"I sometimes have to remind myself, ‘Oh, you don't need to be self-conscious anymore, everyone knows and it's OK to ask for someone's arm if you need something,'" she added. "I'm embracing it and I'm learning to ask for help, which is an important lesson, I think, for everyone."
While Sigler admitted she felt "vulnerable and exposed," when she first shared her condition, the revelation has led her to "being an advocate for the MS community."
"It's been therapeutic for me because it's important to talk about things that are uncomfortable but they're part of our lives," she explained. "And when you realize you're not alone it makes everything a lot easier."
In February, Sigler spoke to ET about the response to her MS announcement.
"It's been overwhelming in a good way," she said. "Everything that I feared about coming out about it has not happened. The complete opposite happened. I've been working consistently since, which is crazy."
She also shared what ultimately made her decide to go public with her health issues -- her 3-year-old son, Beau.