Bergdahl also performed push-ups to demonstrate his physical condition and said he was being treated well, despite being a prisoner.
But Bergdahl began to lose his composure as he talked to the camera.
"Release me please, I'm begging you," he said.
"I love my family. I haven't shown it very well because I've been pretty lost in my life and I don't think I've given my family the love that they've given me."
"Let me go," pleaded Bergdahl.
Additional reporting by Luis Martinez.