"Seventh Heaven" Star Stephen Collins' Confession

Actor who played a minister on TV describes his inappropriate behavior with underage girls.
1:38 | 12/19/14

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Transcript for "Seventh Heaven" Star Stephen Collins' Confession
Next tonight the bill Cosby scandal dominating headlines. Tonight, another TV dad offering a confession. Here's ABC's Tom llamas. Reporter: As far as TV dads go, he was one of the sweetest. He played the minister father on "7th heaven." But tonight, a glimpse into Stephen Collins' past -- far from wholesome. There were two occasions when I exposed myself to this young woman. Reporter: In an exclusive interview with Yahoo! Global anchor Katie couric, Collins describes an inappropriate encounter he initiated with that underaged girl in 1973. Collins also confesses to exposing himself to two other teenage girls -- one in 1982 and the other in 1994. Extensive therapy and his deep Christian faith have put an end to these impulses. I'm a human being with flaws and have done everything I can to address them. Reporter: The reason Collins is talking -- the release of a 2012 audio recording from a marriage counseling session with his estranged wife. The exposure happened a couple of times. A couple of times? You told me once. Reporter: Since the release of that tape, Collins has lost acting jobs -- and "7th heaven," pulled from syndication. Collins says he never behaved inappropriately on or off that set. So far, he hasn't been charged with any crime. The statute of limitations has expired. David, there would have to be a more recent victim. When we come back -- the breaking news on the secret

This transcript has been automatically generated and may not be 100% accurate.

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