"He never did anything that was inappropriate -- except for one time," the 31-year-old singer claims.
UPDATE: 4:01 p.m. on 5/21/19
Aaron Carter is clarifying the comments he made about having once had an "inappropriate" encounter with Michael Jackson.
"Everyone having my back, I appreciate you," he tweeted Tuesday afternoon. "My reasoning for even speaking on this subject is to tell my truth, be real and to also have his back based on my experiences with Michael. He was an amazing guy. I stand by that. So I ask you not to turn this into something it isn't."
"In my opinion, it WAS a little inappropriate," he continued. "What's the problem with that? What I achieved? I'm not trying to achieve anything except telling my story to validate he didn't f--king do anything sexual! Are you all this stupid? Honestly? It's like people want to find someone to f--k with when what I'm speaking about ACTUALLY VALIDATES HE DIDN'T DO ANYTHING! We can do this all day if you want. I'm good with that."
In response to a Michael Jackson fan account, he added, "AS I'VE SAID, my story VALIDATES, in MY OPINION, that Michael didn't do anything sexual to others. My story HAD to be told in order to protect a man and friend I ACTUALLY KNEW -- unlike you. And FYI Apple Head was my nickname he called me, NOT YOURS. Don't be phony."
everyone having my back I appreciate you. My reasoning for even speaking on this subject is to tell my truth, be real and to also have his back based on my experiences with Michael. he was an amazing guy, I stand by that. So I ask u not to turn this into something it isn't. 🙏🏻
"Michael was a really good guy, as far as I know, a really good guy," Carter says in a sneak peek of the WEtv series.
"He never did anything that was inappropriate," he continues, "except for one time. There was one thing that he did that was a little bit inappropriate."
A 14-year-old Carter first met Jackson in the recording studio in 2001, where MJ recruited him to partake in his charity song, "What More Can I Give?" By September of that year, the two had gotten so close that Carter performed his hit, "I Want Candy," at Jackson's anniversary celebration at Madison Square Garden.
In 2004, Carter shut down rumors that he and the 13-time Grammy winner had a sexual relationship.
"Michael and I have been friends for three years," he told PEOPLE at the time. "Nothing happened between me and Michael. We didn't sleep in the same room, we didn't share a bed. We have a normal friendship. There's nothing sexual to it."
Aside from working on his rocky relationship with his mother during his time on "Family Boot Camp," Aaron also addressed his issues with Nick.
"My brother and I weren't talking before I went onto this show," Aaron explains in the preview clip. "After we did it, we're back [to] talking again."
The brothers publicly feuded after Aaron's 2017 DUI arrest because Aaron felt Nick should've contacted him directly instead of tweeting about the incident.
"If my own blood truly cared about my well-being, why wouldn't he call me directly and have a conversation instead of making this about him through a very public forum?" Aaron said on Twitter in response. "That's not cool at all to use me for his PR and kick me while I am down. I love my family despite it, through thick and thin."
In the sneak peek, Aaron credits the reality show for giving him "the strength and ability to feel more comfortable in my own skin."
Michael Jackson was found not guilty in a 2005 molestation criminal trial. However, allegations of abuse have haunted his legacy. Most recently an HBO documentary "Leaving Neverland" has brought a spotlight once again on the issue.
"Marriage Boot Camp: Reality Stars Family Edition" premieres later this year on WEtv.