(CNN) Republican presidential candidate Marco Rubio said his views on abortion -- which were grilled Thursday night at the Republican field's first primary debate -- are rooted in his faith and that's why he opposes abortion even in cases of rape or incest.

"People should hope that my faith influences my political position and in this case I'm proud to say that my faith influences me," he told CNN's "New Day" on Friday. "It teaches me that God knew us when he formed us in the womb. ... And even some human life that some scientist wants to have a debate about but I believe that science is clear. That when there is conception that that is a human life in the early stages of its total development that is worthy of the protection of our laws."

CNN's Chris Cuomo asked the senator about co-sponsoring a previous bill that allowed abortions in instances of rape and incest victims -- which Fox News debate moderator Megyn Kelly sharply questioned the Florida senator about on Thursday.

Rubio, a conservative Catholic, said he is not in favor of abortion even in cases of rape or incest, a minority position even among anti-abortion voters.

Read More