Stephen Collins confession: 'I did something terribly wrong'

"7th Heaven" star Stephen Collins released a dramatic statement to PEOPLE magazine where he admitted to sexual contact of three female minors.

Collins, 67, became the center of media attention after a recording was released of him allegedly confessing to child molestation. Now Collins spoke candidly with People Magazine about three incidents over a 20-year time span.

"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," Collins writes in his statement.

"On the recording, I described events that took place 20, 32, and 40 years ago...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," Collins said. "I did have an opportunity to do so with one of the women, 15 years later. I apologized and she was extraordinarily gracious...but after I learned in the course of my treatment that my being direct about such matters could actually make things worse for them by opening old wounds, I have not approached the other two women, one of whom is now in her 50s and the other in her 30s," Collins said.

The 7th Heaven actor will sit down with Yahoo Global News Anchor Katie Couric for an in-depth interview based on his PEOPLE essay. The interview will stream on Yahoo! and air Friday on 20/20 at 10 p.m. EST | 9 p.m. CST on ABC.