Taped by his wife, Baio 57, responded to allegations that he molested his former co-star Nicole Eggert when she was just 14 years old.
The 46-year-old actress had tweeted on Saturday that he assaulted her while they worked together on the show 'Charles in Charge'.
'Ask @scottbaio what happened in his garage at his house when I was a minor. Creep,' she wrote.
Baio issued a statement calling her claims were '100% lies', before appearing in a Facebook Live video filmed by his stuntwoman wife Renee Sloan.
The actor acknowledged that the pair did have sex, but claims it was consensual, and that Eggert would have been at least 18-years-old at the time of the encounter.
He revealed: "I remember her calling me and asking me to come over and coming in my house one time, and seducing me," Baio says in the video.
"Any normal heterosexual, red-blooded American guy, the outcome would have been the same."
Baio played an audio recording of an interview given by Eggert in which she described losing her virginity to Baio 'way after' 'Charles in Charge' was done.
The actor and his wife claim that their lawyers had served Eggert with two cease-and-desist letters in November ahead of the video.
He alleges she first made her claims against him to promote a reality show she was appearing in but now 'just won't let them go'.
He added: "If you have a real claim, you go to the real people, not to social media where people like me get beat up."
"When you have minors on the set, when they are not on the set working, they are in the classroom with the teacher, the teacher brings them to the set, and on the set is their parents, their teachers."
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