It's been six years since Tiger Woods' cheating scandal dominated the headlines, and the golf pro is opening up about his current relationship with ex-wife, Elin Nordegren, and what his two kids know about the infidelity.

"[I tell them] 'Guys, the reason why we’re not in the same house, why we don’t live under the same roof, Mommy and Daddy, is because Daddy made some mistakes,'" the 39-year-old and father of daughter Sam, 8, and son Charlie, 6, explains in a new interview. "'But it’s OK. We’re all human. We all make mistakes.'"

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Tiger with his kids and ex Lindsay Vonn in April.

As for Elin, Tiger claims the duo are "best friends" these days. "We’re able to pick up the phone, and we talk to each other all the time. We both know that the most important things in our lives are our kids," he told Time magazine of the 35-year-old.

When asked if he would have changed his actions in any way, the athlete responded, "It would be having a more open, honest relationship with my ex-wife. Having the relationship that I have now with her is fantastic. She’s one of my best friends."

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Tiger and Elin in 2006.

It appears that both Tiger and Elin are single at the moment. He broke up with skier Lindsay Vonn in May and she ended a relationship with billionaire Chris Cline last year.

Scroll down to see more celebrities who have openly admitted to cheating on their significant others!