Stephen Collins has admitted to inappropriate sexual conduct with underage girls.

In a thousand-word statement, Collins tells People magazine that his behavior is "inexcusable," claiming that he has not done anything since his last incident, when he exposed himself to a teenage girl in 1994. Collins says there were three victims from 1973 to 1994, but he has "not had an impulse to act out in any such way" in the last 20 years. "I deeply regret the mistakes I've made and any pain I have caused these three women,'' the actor writes. "I admit to, apologize for and take responsibility for what I did.''

"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," the 7th Heaven star writes. "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," he continues, "I want people to know the truth."