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"Life -- it's always better to look through the windshield and not through the rear-view mirror. It's a much bigger picture when you're looking through the windshield," continued the 47-year-old, who appeared calm and at peace. This isn't the same "Juicy" fans of "The Real Housewives of New Jersey" saw enter prison in 2016.
"At the end of the day, people make mistakes. Nobody's perfect. But I've learned a valuable lesson from all this," he went on. "I know my family is the most important thing to me, but it's better that I'm out here than in there."
Sharing what seemed to be a message aimed specifically at his wife and their four daughters -- Gia, 18, Gabriella, 15, Milania, 13, and Audriana, 10 -- Joe concluded, "And I just wanna let you know that I love yous and I'm always here for yous. You know that. Alright. Thank you."
Joe was released from ICE custody earlier this month and permitted to await his fate in Italy, where he was born and left as an infant, until a decision is made regarding deportation to his native country.
Joe was released from federal prison in March after completing a 41-month sentence for mail, wire and bank fraud. Teresa also served time for her involvement in the financial crimes: 11 months in 2015.
The couple will appear in their first joint television interview since Joe began his sentence this Sunday at 8 p.m. on Bravo with Andy Cohen. Teresa will be present, while Joe will video-call in.
Last week, Teresa had to defend her relationship after a teaser clip of the upcoming season of "RHONJ" made it seem as though she had recently cheated on her husband.
While Teresa and the mystery man featured in the promo did get intimate with each other, it didn't happen during her marriage to Joe -- this according to her attorney, James Leonard Jr., who says Gia called him after the clip went viral.
"She and her sisters have watched both of her parents go to prison, they are right now dealing with the deportation of her father, and then the headline yesterday is that her mother admitted to kissing another man. The problem is, and it always is, nobody ever tells you the full story or the real story," Leonard said. "The real story is that Teresa did kiss the man in the supertease. His name is Tony. She kissed him more than 30 years ago when they were in high school together. But nobody calls to ask, they just write a headline to get clicks."
"They have been writing about cheating and divorce rumors for the last 10 years, but guess what? Nobody is cheating, nobody is getting divorced," he continued, adding that Teresa and all four girls are "going to see Joe [in Italy] the first week of November."
"They talk and FaceTime every day. Everyone is happy. No one is fighting. There is an amazing story of love and perseverance, but I guess that doesn't sell magazines or get clicks on websites," Leonard went on. "Even if you don't like Joe and Teresa, think about their four daughters and please stop trying to destroy this family. They have been through enough."
"The Real Housewives of New Jersey" Season 10 premieres Wednesday, November 6 at 9 p.m. on Bravo.