Video: '7th Heaven' Star Tells Story Of Sexual Misconduct With Young Girl While Wife Was Sleeping

On the heels of actor Stephen Collins publishing a lengthy confessional in PEOPLE yesterday, there's now video of the 7th Heaven star describing the inappropriate things he did with an underage girl—one of which took place in his home while his wife was sleeping.

In anticipation of his interview with Katie Couric that airs on ABC's 20/20 this Friday, two teaser videos (via Yahoo! News) were released today. In one of the clips (which can be seen below), the 67-year-old actor says: "In 1973, there were two occasions where I exposed myself to this one woman. And several months later she came to visit and came to stay with us—with my first wife and me. And my wife had gone to sleep, and she and I were watching TV alone together and I took her hand and moved it in such a way that she was touching me inappropriately."

Just two months ago, TMZ released a audio recording that Collins' wife, Faye Grant, apparently taped without his knowledge during a therapy session in 2012. (Collins and Faye are in the middle of nasty divorce.) Collins allegedly admitted to molesting three girls—who were 11, 12 and 13 years old—in the recording.

In another video clip, Collins tells Couric that he's a "flawed person" and then goes into his religious faith and brings up Jesus Christ. "This came out," he says. "I didn't choose this to come out. I didn't want to have to deal with these things publicly. I had dealt with them very strongly and commitedly in my private life. But I think I'm a human being with flaws and I've done everything I can to address them."

The video can be seen here:

In his PEOPLE statement, he writes that he apologized to one of the victims 15 years later and said she was "extraordinarily gracious," and that he didn't approach the other two because it "could actually make things worse for them by opening old wounds."

TMZ reported that one of Collins' victims, who is now in her 50s and was the one whom he placed her hand on his penis, is reportedly telling family members that she doesn't understand why he isn't apologizing to the other victims. According to TMZ, she says, "Stephen is minimizing the incident. It was not just a spontaneous touching ... that aggression resulted in him ejaculating."

While the L.A. Sheriff's Department, L.A. Police Department and New York police investigated the allegations, no criminal charges have been filed against Collins. The actor says that his inappropriate sexual misconduct with the young girls occurred between the years of 1973 to 1994.