David stars as the attorney in the upcoming FX series American Crime Story: The People Vs OJ Simpson, which dramatises the murder trial of OJ Simpson, who was accused of killing his ex-wife Nicole Brown Simpson and her friend Ronald Goldman.
Robert Kardashian was among the legal team who helped secure the not guilty verdict.
Speaking to Access Hollywood, Kris said: "I think it was really cool because when I found out David was playing Robert Kardashian. I was personally excited as Robert was one of his biggest fans on Friends and we would watch that show religiously."
She added that David - who played Ross on Friends - and phoned her to research Robert Kardashian before filming on the TV series began.
"We were on the phone for a long time and I think what I loved about that was he called to find out about Robert Kardashian as a person and what he was like and what he was all about. Personally, I appreciatedthat because he wanted to do a little research on the character, the guy he was going to play."
David recently said he'd been offered the chance to meet all the Kardashian family but had declined, because Robert's daughters Kim, Kourtney and Khloe were so young when the trial took place.
Speaking to People magazine, actor David said: "Kris was really, really generous with her time. It was really great to learn about how much a man of faith he was and how loyal and considerate he was.
"He was a very humble, very private person. Not at all seeking the limelight, that was inadvertent."
It premieres in the US on FX on 2 February.
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