In a recent interview with The Guardian, Robinson confirmed he had an affair with Ross during his first marriage to Claudette Rogers.

Though he regretted having a fling with Ross, the 83-year-old said she wanted to end their romantic relationship.

“After we’d been seeing each other for a while, Diana said to me she couldn’t do that because she knew Claudette, and she knew I still loved my wife. And I did. I loved my wife very much,” Robinson said.

He then talked about his “understanding of love” as he got older and the wisdom he gained from life experiences.

“I learned that we are capable of loving more than one person at the same time. And it has been made taboo by us. By people,” Robinson explained.

He continued, “It’s not because one person isn’t worthy or they don’t live up to what you expect – it has to do with feelings. If we could control love, nobody would love anybody. Nobody would take that chance.”

As Blavity previously reported, the “Being With You” singer opened up about the affair and how the two met in an exclusive interview with Vlad TV earlier this year.

Robinson, born William Robinson Jr., grew up in Detroit and recalled he and The Supremes singer living in the same neighborhood as children. However, the musician said he didn’t realize Ross could sing until she moved away.

“I didn’t even know she could sing,” Robinson said. “When I found out she could sing was when–she moved away from the from the Block, she moved to a place called the Brewster projects and after we started Motown she called me one day and she said, ‘Smoke I got this group you know and I want you to hear us so you can sign us up at Motown.’ So I said ‘OK’, I didn’t know she was a singer till then.”

The two legendary musicians remained good friends before taking their friendship to another level. Robinson said their fling happened later on in his marriage to Rogers.

“Yes…it lasted probably longer than it should because I was married at the time,” Robinson admitted. “This happened later, after I got married, after I got them signed up at Motown. That’s when that started.”

Robinson and Rogers were married for 27 years and shared two children before they divorced in 1986. He then remarried in 2002 to Frances Glandney, per The Guardian.

Meanwhile, Ross also had two marriages. The 79-year-old was married to Robert Ellis Silberstein from 1971 to 1977. Years later, according to The Jasmine Brand, she married Arne Naess Jr. from 1985 to 2000.

Despite the affair, Robinson spoke highly of Ross and their friendship.

“Diana Ross is a beautiful lady, and I love her right till today. She’s one of my closest people.”