Aaron Carteris speaking out about his complicated past withMichael Jackson.
PEOPLE can exclusively reveal that Carter, 31, will be joining the next season ofMarriage Boot Camp: Reality Stars Family Edition, where he will be sharing his thoughts on the late “King of Pop” following the controversial Leaving Neverland documentary.
“Michael was a really good guy, as far as I know, a really good guy,” Carter says in PEOPLE’s exclusive interview footage from the WE tv 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,” he claims without elaborating further.
A rep for the Jackson family did not respond to PEOPLE’s request for comment.
Bruce Glika/FilmMagic; Carlo Allegri/Getty Images

Over the years, Carter has shut down rumors that Jackson came onto him sexually when he was younger,telling PEOPLEin 2004, “Michael and I have been friends for three years. … 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.”
Carter, who will appear with his mother Jane Carter on theFamily Editionseason, is also getting candid about his rocky relationship with his older brotherNick Carter, 39.
“My brother and I weren’t talking before I went onto this show,” he explains in PEOPLE’s exclusive interview footage fromMarriage Boot Camp. “After we did it, we’re back [to] talking again.”
The pop brotherspublicly feudedafter the younger Carter’s DUI arrest in 2017, when he lashed out on Twitter after he felt his older sibling wasn’t supportive after the incident.
“If my own blood truly cared about my wellbeing, why wouldn’t he call me directly and have a conversation instead of making this about him through a very public forum?” he said in a Twitter statement. “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.”
Now, afterseeking professional treatmentfor both his mental and physical health, Carter is giving credit to his stint on the reality show for helping him be in a better place.
“Participating inFamily Boot Campliterally gave me the strength and ability to feel more comfortable in my own skin,” he says in the interview footage.
Marriage Boot Camp:Reality Stars Family Editionpremieres later this year on WE tv.
source: people.com