Ex-Penn State Coach Jerry Sandusky Breaks Silence on Sex Scandal to NBC's Bob Costas: 'I Shouldn't Have Showered With Those Kids' (Video)

Getty Images
Bob Costas, left, and Jerry Sandusky

The university's former defensive coordinator insists he is "innocent" of all charges he sexually abused children but admits that he "horsed around with kids" and "touched their leg."

Former Penn State football coach Jerry Sandusky, who has been charged with 40 counts of sexual abuse against children, has broken his silence about the sex scandal that resulted in the ouster of head football coach Joe Paterno and three other university officials.

Sandusky -- who has been charged by the state of Pennsylvania with the sexual assaults or advances on eight boys from 1994-2009, during which time he served as Penn State defensive coordinator and head of the Second Mile charity, helping at-risk youth -- gave an exclusive interview to NBC's Bob Costas that's set to air at 10 p.m. Monday on Rock Center With Brian Williams. During the interview, Sandusky insists that he is "innocent of those charges."

PHOTOS: Hollywood's Biggest Fantasy Football Fans

When pressed by Costas if he was "completely innocent and falsely accused in every aspect," Sandusky replied: "Well I could say that, you know, I have done some of those things. I have horsed around with kids. I have showered after workouts. I have hugged them and I have touched their leg. Without intent of sexual contact."

Sandusky insisted that he is not a pedophile but admitted that there are some actions he regrets.

"I shouldn't have showered with those kids," he said.

VIDEO: How Penn State Protesters Targeted the Media

The news has rocked the Penn State community. Beloved coach Paterno, who has had a successful 46-year coaching career, was fired last week for not reporting an incident he witnessed nine years ago involving Sandusky to the authorities. University president Graham Spanier also was ousted.

Two other Penn State employees, athletic director Timothy Curley and Gary Schultz, a senior vp who oversaw the university police department, were arraigned last week on charges that they knew about the alleged crimes but did not report them. Schultz has since stepped down, while Curley was placed on administrative leave to focus on his defense.

VIDEO: Even Satan Offended by Penn State Scandal on 'SNL'

Meanwhile, Second Mile CEO Jack Raykovitz also has been ousted from his position.

Sandusky, 67, is free on a $100,000 bond.

Visit msnbc.com for breaking news, world news, and news about the economy