Taron Egerton and Poppy Delevingne feature in the startling moment, which sees Egerton’s Eggsy having to plant a tracking device in an intimate part of his co-star’s body.
On screen, viewers see Eggsy’s hand run down her body – then go inside her.
It’s been one of the biggest talking points of The Golden Circle, and Vaughan has said it was quite intricate to shoot.
“Well, that’s the beauty of filmmaking, isn’t it?” he told Vulture.
“We had to get a lens made, we had to get a camera position dollying very close to someone’s body, but you didn’t want to hurt them by mistake.
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“Having to use Eggsy and then another hand, because it got quite intimate, as you’d say, and making that seamless.”
He added: “It was one of those things that could have been a disaster.
“In some people’s minds I know that they think it’s a disaster already because they didn’t like it, which is fine and I respect it, but other people do like it.”
Egerton had previously spoken about the scene, saying Delevingne’s husband had to step in to take over when things got particularly steamy.
“In this one, I’m in the shot and I said to Matthew ‘I’m not comfortable doing this’,” he recalled to ScreenRant.
“So it’s not my hand – it’s Poppy [Delevingne]’s husband’s hand. He saved the world.”
Kingsman 2: The Golden Circle is out now.