Kendra Wilkinson and husband Hank Baskett have opened up about the retired NFL player's cheating scandal.

The 30-year-old reality star and Baskett explained the truth behind the alleged affair in an interview with People. The former Philadelphia Eagles wide receiver was accused of cheating with a transgender model in a widely-publicized incident in 2014.

"I messed up. I put myself in a bad situation. And everything through me brought pain upon this family," Baskett said. The retired athlete was reportedly in a home to buy marijuana when he emerged from the bathroom to find a nude woman who fondled him through his shorts.

"I didn't engage in anything," he asserted. "It was like a bank robbery. You never know when you'll freeze. I don't know if it was a couple of seconds or 15 seconds, because all I was saying was get out, get out, get out ... I could do anything to protect my family but I couldn't protect myself."

Baskett denied mutual masturbation took place and that he sought out the woman after seeing photos of her online. Wilkinson admitted her husband was "very naive and gullible" in the situation, and blamed his tendency to think "everybody is his friend" for the "hell" they experienced.

"I don't say the word 'cheat,'" she said of her perception of what happened. "I can say he was not loyal to me. I don't care about the act. I care about how he reacted to it and how I was told by the media what happened. That scarred me."

Wilkinson and Baskett documented the fallout of the incident on WE series Kendra on Top, which will return for a fourth season in August. The couple are parents to five-year-old son Hank and one-year-old daughter Alijah, and were able to reconcile after the scandal.