Nicole Auerbach

USA TODAY Sports

Olympic champion swimmer Michael Phelps is taking "some time away" from swimming and is entering a six-week, in-patient program less than a week after being arrested for driving under the influence in Baltimore.

"The past few days have been extremely difficult," Phelps said in a statement. "I recognize that this is not my first lapse in judgment, and I am extremely disappointed with myself. I'm going to take some time away to attend a program that will provide the help I need to better understand myself.

"Swimming is a major part of my life, but right now I need to focus my attention on me as an individual, and do the necessary work to learn from this experience and make better decisions in the future."

On Tuesday, Phelps was also charged with excessive speed and crossing double lane lines within the Fort McHenry Tunnel on I-95 in Baltimore, the Maryland Transportation Authority Police said. Police said he was driving 84 mph in a 45-mph zone.

When Phelps was pulled over just before the toll plaza, he "appeared to be under the influence" and "was unable to perform satisfactorily a series of standard field sobriety tests," according to the police statement. Phelps was cooperative throughout the process, police said. He was later released.

This charge is not Phelps' first DUI-related offense. In 2004, a then-19-year-old Phelps was arrested for drunken driving and was ultimately sentenced to 18 months of probation.

"As Michael stated, he recognizes the seriousness of his actions and is taking steps to address them," said a spokesperson for Octagon, the agency that represents Phelps. "He is entering himself into a six-week, in-patient program.

"While this has been an extremely difficult time for him, he is encouraged that this comprehensive program will help him focus on all of his life experiences and identify areas of need for long-term personal growth and development. Michael takes this matter seriously and intends to share his learning experiences with others in the future."

Phelps, 29, is the most decorated Olympian in history, with 22 medals (18 of them gold) from the 2004, 2008 and 2012 Olympics. He retired after the London Olympics but returned to the sport competitively this April.

During his comeback, Phelps has focused on relays and shorter-distance events, including his marquee event, the 100-meter butterfly. He competed at the U.S. national championships in August and won three gold medals and two silver medals at last month's Pan Pacific Championships, his first international meet since London.

USA Swimming executive director Chuck Wielgus issued a statement of support for Phelps on Sunday. "We fully support Michael's decision to place his health and well-being as the number one priority. His self-recognition and commitment to get help exhibit how serious he is to learn from this experience."

USA Swimming has not announced any discipline for Phelps, though it could choose to do so.

Back in 2009, after a photo surfaced of Phelps with a marijuana pipe, USA Swimming suspended him from competition for three months. He was not charged with a crime.

PHOTOS: Michael Phelps through the years