Two months after a recording of Stephen Collins confessing to child molestation was released by TMZ, the actor put out a detailed statement about the incidents that occurred more than 20 years ago.

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The 67-year-old, who is known for his role as the beloved Rev. Eric Camden on 7th Heaven, confirmed that he molested three young girls between the years 1973 and 1994.

"Forty years ago, I did something terribly wrong that I deeply regret. I have been working to atone for it ever since. I've decided to address these issues publicly because two months ago, various news organizations published a recording made by my then-wife, Faye Grant, during a confidential marriage therapy session in January, 2012. This session was recorded without the therapist's or my knowledge or consent," he said in a statement to People.

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"The publication of the recording has resulted in assumptions and innuendos about what I did that go far beyond what actually occurred. As difficult as this is, I want people to know the truth."

The actor said he apologized to one victim years later, but during his treatment he was told that doing so may just have a reverse effect. In turn, he decided not to approach the other two females. Collins also said he has "not had an impulse to act out in any such way" in the last 20  years.

As for his actions on television and film sets, Collins said he never acted in an inappropriate manner.

"I appeared for eleven seasons on a television series with a cast that included minor females in our TV family, and countless other young actresses throughout the show's eleven years,'' he added. "I never behaved inappropriately on or off that set - or on any set I've ever worked on." 

The actor, who has a daughter of his own, will discuss the scandal further with Katie Couric in a segment airing on Friday on 20/20 on ABC.