Speaking to Movies.com, producer Kevin Feige revealed that The Avengers movie was initially rated R by the MPAA due to the stabbing scene in the film. Below are some highlights from the interview.
Feige on submitting the film to the MPAA: "When we submitted The Avengers, the first couple cuts of it came back from the MPAA rated R. That happened twice. So we went back and had to make adjustments…Well, whenever you impale somebody from their back and the blade comes out their chest, there are issues."
Feige on if Coulson will return of Age of Ultron: "That is a good question that I probably shouldn't answer for any number of reasons."
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Subject: Kevin Feige Says The Avengers Was Initially Rated R 
