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Usher finally has primary custody of his children, and he’s finally opening up about his three-year battle with Tameka Foster to achieve that status.

“This will be the only time that I’ve ever chosen to speak about it. I’ve been a man of integrity throughout the entire process, which I hope my boys will understand,” the singer said last night on Oprah Next Chapter. “That’s the way to go. That’s the way to be.”

So, what did the well-sculpted artist reveal?

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He wasn’t prepared for marriage in 2007: “I wanted to give her the wedding that she wanted. But I wasn’t quite ready. I impregnated this woman, we were in a relationship, we were in love… I was taking responsibility.”

The union started to fall apart once Usher V was born: “After that, I did get a great sense of the insecurities that were there and the fact that she wasn’t coping well with being in this position, being married to Usher, and all that came with that.”

 
Why did he decide to file for divorce? “I didn’t know how to balance it. It was obviously too much for me. I didn’t want to get to the point where I would cause myself harm or do anything that I felt like would be harmful to me, so I couldn’t stay in it.”

How bad have things gotten? “We don’t see eye-to-eye. The friend that I was to Tameka, I don’t know that I could ever be again because I really felt like we were friends. She made us enemies in a way that I could never understood. It wasn’t until I was on the stand, where I cried, when I realized, ‘Oh, this is an attack.'”

He’s learned some painful lessons: “Having not had a father wasn’t a reason not to be a good father. That was all of the reason to be a good father because I didn’t have one. Every bit of who I have become and the way I think I have handled these things represents the example for how I would like for my boys to be able to do things.”