The 30-year-old television personality spoke to E! News about the sexual comments he made about Kardashian during Sunday's episode of Keeping up With the Kardashians, and explained that he "just wanted to give people a good laugh."
The step-siblings had an awkward encounter during a family vacation in Thailand when Jenner walked into Kardashian's room unannounced and saw her posing almost naked for a photoshoot meant for Kanye West's eyes only.
Jenner left the room in a rush after the incident and joked that he got a "half chub" from looking at Kardashian when he recounted the story to his brother Brandon Jenner and his wife, Leah.
"It was a joke," Jenner said of his remark, adding that he was just looking to humor people with the comment.
The former Laguna Beach star found himself in a not-so-similar situation involving Kardashian recently after he attended her ex Reggie Bush's wedding after skipping his stepsister's.
"It's kinda ridiculous that everybody's making such a big deal out of it," he said on the issue. "Reggie's been a friend of mine for a very long time so I went to his wedding. It's all good."