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17 September 2012, 11:20
The 'Scream' singer also discusses the breakdown of his marriage to Tameka Foster during candid interview.
Usher has spoken for the first time about the death of his stepson Kile Glover.
The 11-year-old son of Usher's former wife Tameka Foster passed away in July – two weeks after a boating accident had left him critically injured.
In a TV interview with Oprah, Usher said he was still coming to terms with Kile's death, admitting that he "missed" the child.
"We cooked together, we laughed, we sang. He loved to sing and dance, he loved to tell jokes," he said.
The 'OMG' singer also clarified reports that he had not attended Kile's funeral, insisting that he joined other family members at the burial.
"It hurts me to hear people speculating that I wasn't at the funeral. I absolutely was at the funeral. I was at the burial as well," he told Oprah.
During the interview, Usher also spoke about the breakdown of his marriage to Foster and said he felt "lost".
"No. I was faithful at heart, but not faithful all the way," he said. "Even having a conversation with another woman, period, about matters of your relationship or emotions is, in my opinion, not being faithful."
Oprah then responded: "But were you with another woman sexually?"
Usher continued: "When we were separated, yes, I was. We were not divorced. The conversation about the bridesmaid has always been one that's been complicated.
"Outside of my marriage and our separation and our divorce, I did have exchanges with [the bridesmaid]. We were friends. She was someone who was part of the children’s lives before."
Usher recently performed at the iTunes Festival in London.