Kevin Hart opens up to Will Smith about his past infidelity

Kevin Hart discussed the effect his 2017 cheating scandal had on his kids during Will Smith's takeover of his wife Jada Pinkett Smith's Facebook Watch series, "Red Table Talk" on Sunday.

Hart has four children: Heaven, 16, and Hendrix, 13, with ex-wife Torrei and 3-year-old Kenzo and 8-month-old Kaori with his current wife Eniko Parrish.

“I stepped in some s---, yeah,” Hart admitted when asked about how he addressed his 2017 cheating scandal with Heaven.

“You’re never prepared for that side of it," he continued. "Having a little girl in my life, it’s tough. You don’t realize the impact that your mistakes can truly have. When the kids get involved, it’s a different feeling, it's a different opinion, it’s a different emotion.”

“It’s very hard to bother me,” the 41-year-old comedian said of the blowback over past "debacles," adding, "But when your child shows disappointment, shows emotion, shows ‘I don’t understand why’ and you gotta have those conversations ... the head drops for the first time.”

He said one then realizes that there is "an emotional cord that nobody else has the privileges of ever touching."

"When me and my wife went through what we went through and the whole cheating display, my talk with [daughter] Heaven, g------,” he explained. "That was one like no other. Getting my daughter back, getting my daughter to understand that I’m sorry, that I made a mistake, that was real, to understand, I’m still dad."

He said Heaven was "tough" on him and still is to this day.

Hart's entire conversation with Smith can be seen in the most recent episode of "Red Table Talk," which is available on Facebook Watch.

Hart stars alongside Alfre Woodard, Frankie R. Faison, Lil Rel Howery, DeWanda Wise, Anthony Carrigan, Melody Hurd and Paul Reiser in the dramedy "Fatherhood," streaming now on Netflix.