(CNN) Former Vice President Joe Biden joked twice about having permission to touch people on Friday during his first public appearance since several women alleged he made them uncomfortable in encounters over the years.

After his speech at the International Brotherhood of Electrical Workers Construction Conference in Washington, DC, Biden also said that while he was sorry he didn't understand more about the how his behavior made women feel, he made clear he was not apologizing for any of his intentions, telling reporters, "I am not sorry for anything that I have ever done -- I've never been disrespectful, intentionally, to a man or a woman."

Biden's comments were the most direct response so far to allegations he made women feel uncomfortable with the way he touched them. Lucy Flores, a former Nevada assemblywoman, penned an essay last week detailing a 2014 encounter during which the former vice president made her feel "uneasy, gross and confused" when he came up from behind her and kissed the back of her head. Several women have since come forward with similar stories about Biden.

Biden used humor during his speech on Friday in reference to the allegations. After being introduced by IBEW president Lonnie Stephenson, Biden told the crowd, "I just want you to know. I had permission to hug Lonnie."

Biden returned to the subject with another joke midway through his remarks -- after inviting a group of children at the event up onto the stage, Biden put his arm around one of the kids and said to laughs, "By the way -- he gave me permission to touch him."

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