Smokey Robinsonis opening up about his numerous affairs — including one with his childhood friendDiana Ross.

In an interview withThe Guardianon Thursday, the legendary singer revealed he had an affair with Ross for “about a year” while married to his first wife, Claudette Rogers.

“I was married at the time. [Ross and I] were working together and it just happened. But it was beautiful,” Robinson, 83, told the outlet.

Smokey Robinson and Diana Ross.Walter McBride/Corbis via Getty

Smokey Robinson Talks His Affair with Diana Ross

“She’s a beautiful lady, and I love her right til today. She’s one of my closest people. She was young and trying to get her career together,” he continued.

“I was trying to help her. I brought her to Motown, in fact. I wasn’t going after her and she wasn’t going after me. It just happened.”

Robinson then went on to explain how their relationship ultimately ended.

“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,” the “Tracks of My Tears” singer said. “And I did. I loved my wife very much.”

Smokey Robinson with Claudette.smokey robinson/instagram

smokey robinson life in pictures

His relationship with Ross, 79, taught him that love is far more complex than he imagined.

“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. Why would you put your heart out there for somebody to be able to hurt you like that and make you able to have those feelings?”

Diana Ross and Smokey Robinson in 1965.Michael Ochs Archives/Getty

smokey robinson life in pictures

Robinson was married to Rogers from 1959 to 1986. He married his second wife, Frances Glandney, in 2002. Meanwhile, Ross was married to Robert Ellis Silberstein from 1971 to 1977, and Arne Naess Jr. from 1985 to 2000.

RELATED VIDEO: Smokey Robinson Jokes That “You Gotta Get” His Album in Order To Know What It Is About

Robinson is gearing up for the release of his first studio album in nearly 10 years,GASMS, which drops on April 28.

In February, the icon spoke to PEOPLE about whymaking music is still his biggest passion.

“It’s what I love,” he said. “I can’t find anything that replaces this for me.”

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“I retired one time. I retired for about three years, and I was climbing the walls,” he said. “It’s not about me making time. It’s about me raring to go and do it. Everybody gets a gift from God, and mine was to be able to write music.”

source: people.com