Former NBC senior political analyst Mark Halperin said Thursday he needs to “earn my way back” after doing things that “were wrong and affected the lives of other people.”

In his first public interview in the 17 months since he lost his job over sexual harassment allegations, Halperin apologized and told SiriusXM host Michael Smerconish he's "not a perfect person."

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Halperin, who was a regular part of MSNBC's "Morning Joe" for years before being let go by the network in 2017, is the co-author of the 2008 bestseller "Game Change." In October 2017, he was accused by five women of sexual harassment while at ABC News in the early 2000s. He was political director at the time.

"I'd like to take the opportunity to again apologize to the women that I mistreated, who told their stories, and who were hurt by me. I wasn't a perfect person when I made these mistakes. I'm not a perfect person now. I'm happy to be judged by perfect people,” Halperin said Thursday.

"It's my responsibility, as I said, to do the work I need to do, to have the conversations, to listen to as many people as I can, as I have done," the 54-year-old said. "To understand. And I know I'd like to believe we live in a society where if someone does what they think is the right thing to do, what other people advise them to do, that people would be willing to let me be part of our conversation again in some capacity."

Halperin did not deny the accusations against him in 2017. He lost his job, as did with a wave of powerful men in Hollywood, politics and media who were confronted as part of the "Me Too" movement.

"I did things that were wrong and affected the lives of other people and I need to earn my way back into being in a place where people are willing to listen to what I have to say, or hire me for a job, or let my son be part of their life. That's my responsibility and I understand if people don't want to hear from me, and I don't have any malice towards people who feel that way. I understand it," he added on Thursday.

Halperin was also a co-host of Showtime's political documentary series "The Circus," along with "Game Change" co-author John Heilemann, before being ousted from the series following the allegations that came out in 2017.

He also shared his thoughts about the controversy swirling around former Vice President Joe Biden Joe BidenOmar fires back at Trump over rally remarks: 'This is my country' Trump mocks Biden appearance, mask use ahead of first debate Trump attacks Omar for criticizing US: 'How did you do where you came from?' MORE over women who say he made them uncomfortable with unwanted touch, characterizing it as "a bit of a distraction,” while adding that while Biden is a “wonderful man,” he’s also “an extremely overrated candidate."