Bobbi Kristina, Bobby's only daughter from his 14-year marriage to the late Whitney Houston, passed away in July (15).

Whitney and Bobby's tempestuous relationship saw the couple regularly hit headlines due to legal troubles and allegations of drug and alcohol abuse.

Now, Bobby will speak candidly about life with Whitney in an extensive interview with ABC News anchor Robin Roberts, coinciding with the release of his memoir Every Little Step in June (16).

The New Edition star claims pouring out his memories for the book helped him work through his personal pain.

"Writing this book has been a therapeutic process for me," he tells the U.S. news network. "Getting it all out has allowed me to move on with my life."

The interview with Robin will air as part of a special edition of the network's 20/20 program.

Bobby has endured a tough few years after his ex-wife, Whitney, was found dead in her hotel bathtub at the Beverly Hilton, in Beverly Hills, California in February, 2012. Officials ruled her death was caused by accidental drowning, cocaine use and heart disease.

Tragedy struck against in January, 2015, when their daughter Bobbi Kristina was discovered unresponsive in the bathroom at her Georgia home, in eerily similar circumstances. The 22-year-old died in July (15) after spending months in a medically-induced coma. Coroners ruled her death was caused by "immersion associated with drug intoxication".

The My Prerogative singer does have one positive thing to look forward to - he and his second wife, Alicia Etheridge, are currently expecting their third child. The couple is already parents to son Cassius, born in 2010, and baby daughter Bohdi, who was born last year (15).