Actor Stephen Collins, who played the family pastor in the television series "7th Heaven," has admitted to having inappropriate sexual contact with three underage girls decades ago, People magazine reported on Wednesday.

"Forty years ago, I did something terribly wrong that I deeply regret. I have been working to atone for it ever since," Collins, 67 said in a statement released to the magazine.

The actor said he decided to address the issue following the release earlier this year of an audio tape made during a confidential marriage therapy session with his estranged wife, Faye Grant. The session was recorded without his consent and released by TMZ, the celebrity news website.