In his book, the New Edition star opens up about his childhood, his marriage to late singer Whitney Houston, the death of their daughter Bobbi Kristina Brown, and his substance abuse issues.

And while Bobby touches on many difficult subjects, he insists he is grateful for getting everything out in the open.

"I'm just glad to get it all off my chest," he tells People.com. "I'm glad to move forward with my life. I'm doing a lot better than I was since I was born. It was just good to get it off my chest. I'm glad it's out."

The 47-year-old and his wife Alicia Etheredge-Brown welcomed daughter Bodhi Jameson Rein Brown last year (15). The baby is Bobby's seventh child and her arrival has brought the family much joy.

"We're happy and that's the key to it, being happy," he continues.

And the singer is continuing to learn how to deal with all the tragedy in his life, adding, "Loving every day. Loving every minute of it (is key)."

Bobby's comments come two months after his daughter's boyfriend Nick Gordon was found civilly liable for her death.

Gordon was sued by Brown's court-appointed co-conservator, Bedelia Hargrove, following the 22-year-old's death in July, 2015. The singer also joined the lawsuit as a plaintiff in May (16).

In legal papers, Gordon was accused of giving Whitney Houston's only child a "toxic cocktail" of substances which rendered her unconscious on the night of 31 January, 2015, when the aspiring singer and actress was found unresponsive and face down in a bathtub at the Georgia home she shared with Gordon.

She was subsequently placed in a medically-induced coma and spent almost six months fighting for her life. In September (16), Fulton County Superior Court Judge T. Jackson Bedford ruled the allegations made by the plaintiffs against Gordon had been "admitted through omission" after he missed two court dates.

No criminal charges have been brought against Gordon for Brown's death, but an investigation is still ongoing.