Wade Robson, the choreographer who testified on Michael Jackson's behalf in the singer's 2005 trial -- and is now of saying the Thriller singer molested him for seven years -- appeared on TODAY Thursday for his first in-depth interview about the shocking allegations.
"I never forgot one moment of what Michael did to me," Robson told Matt Lauer, "but I was psychologically unable and unwilling to understand that it was sexual abuse."
The Australian-born dance man, who's bringing legal action against Jackson's estate, said the singer performed sexual acts on him -- and forced him to reciprocate -- from the ages of 7 to 14.
Robson, 30, told Lauer that Jackson gained his silence by telling him they would both be imprisoned if he let out the secret, often calling him in discussions he called "complete manipulation and brainwashing."
Asked about those who have publicly scoffed at his claims -- such as Jackson estate attorney Howard Weitzman who called the accusation "outrageous and pathetic," and brother Jermaine Jackson, who called the allegations "bulls**t" -- Robson said he understands how hard it is to comprehend.
"However, the idea that I would make all of this up and put … my entire family through this extremely stressful and painful experience, all for the sake for money … is incomprehensible to me," said Robson, who's been seen on So You Think You Can Dance. "I lived in silence and denial for 22 years.
Watch the video on RadarOnline.com
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"In order to heal, I have to speak the truth and speak the whole truth."
Asked to sum up the late singer, who's been dead since June 2009, Robson said, "Heartbreak, pain, anger and compassion … he was a troubled man … he was many things -- and he was also a pedophile and a child sexual abuser."
The first hearing in Robson’s claim against Jackson’s Estate is scheduled for June 6.