Stephen Collins Admits To Sexual Contact With Underage Girls: '7th Heaven' Star Says "I Did Something Terribly Wrong" [VIDEO]

MStars News has learned that 7th Heaven honcho, Stephen Collins, has finally admitted to having sexual contact with underage girls.

In a new statement, Collins claims, "Forty years ago, I did something terribly wrong that I deeply regret," according to Entertainment Tonight.

The entertainment TV show said that the actor finally released full details in a statement obtained by People Magazine.

"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," the statement read. "This session was recorded without the therapist's or my knowledge or consent."

Collins added, "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, 67, also revealed that the incident happened back in 1994, two years before he joined the cast of the hit show, 7th Heaven. The star, who played a pastor in the TV series, also revealed that he was in therapy for 20 years, and makes it clear that nothing ever happened between him and his co-stars on the show.

Collins confession will be aired on Yahoo Global News live stream, and on ABC's 20/20, Friday when Collins sits down one on one with Katie Couric.

Despite the pain he might have caused the girls, who are grown women now, Collins says that he has since apologized to one of the victims.

"I did have an opportunity to do so with one of the women, 15 years later. I apologized and she was extraordinarily gracious," said Collins, who is currently going through a divorce with Grant, the woman that aired his dirty laundry. "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."

"I deeply regret the mistakes that I've made and any pain I have caused these three women," Collins adds. "I admit to, apologize for and take responsibility for what I did."