In his first sit-down interview since the death of daughter Bobbi Kristina Brown last July, Bobby Brown opened up about some of the things he regrets about his marriage to Whitney Houston and his role as a father.
Sitting down with Robin Roberts for 20/20, the "My Prerogative" singer got candid about some of the couple's most high-profile and embarrassing moments, including Houston's infamous "crack is whack" comment during a 2002 interview with Diane Sawyer.
WATCH: Bobby Brown Says Whitney Houston Did Cocaine on Their Wedding Day
It was during that ill-fated interview that Houston argued that she was too rich to be addicted to crack cocaine, telling Sawyer, "Let's get one thing straight: crack is cheap. I make too much money to ever smoke crack… We don't do crack. We don't do that. Crack is whack."
Brown called the interview "bad timing," explaining that, at the time, both he and Houston were in the throes of addictions, and that they "both needed to get away from what we were doing."
"There was no reason for her to be on television, at that time," Brown continued.
WATCH: Inside Whitney Houston and Bobbi Kristina Brown's Deep Bond
The famous couple met at the Soul Train Music Awards in 1989 and sparked a romance two years later, eventually tying the knot in July 1992. In March 1993, they welcomed Bobbi Kristina, their only child together.
Their tumultuous 14-year marriage -- which consistently made tabloid headlines due to scandalous allegations of domestic abuse, infidelity, drug use and more -- came to an end in 2006, when Houston filed for separation and later, divorce. The split was finalized in April 2007, with Houston getting full custody of Bobbi Kristina, who was then 14 years old.
WATCH: Bobby Brown Breaks Down Talking About Daughter Bobbi Kristina's Death: 'My Baby's Gone'
A year before calling it quits, Houston, Brown and their daughter appeared on Being Bobby Brown, a reality docu-series about their lives, which aired for one season on Bravo. Despite the show's popularity, Houston refused to participate in a second season, and the series was cancelled.
Brown admitted that bringing his teenage daughter into the spotlight on a reality show was not a great idea. "That was so bad," Brown told Roberts after admitting that there were "so many things" he regrets about his parenting choices.
"We should have been better," he added. "We could have been better."
WATCH: How Bobby Brown Thinks Bobbi Kristina's Death Could Have Been Avoided
On Feb. 11, 2012, Houston was found dead in a hotel room bathtub at the Beverly Hilton at the age of 48. On Jan. 31, 2015, Bobbi Kristina was found unresponsive in a bathtub at her home in Atlanta, Georgia. After spending almost six months in a coma, Bobbi Kristina died on July 26. She was 22.
In the emotional interview, Brown broke down in tears talking about his late daughter, and the role he played in her troubled life. Watch the video below to hear more from Brown.