In both instances, Smith, who is seeking to unseat Democratic incumbent Bob Casey, said "a life is a life, and it needs to be protected," The Philadelphia Inquirer reported.
Following an appearance at a Pennsylvania Press Club luncheon, Smith was asked his position on abortion, which he answered he opposes without exception.
Asked how he would counsel a daughter or granddaughter to keep a child of rape against her will, Smith replied that he "lived something similar to that with my own family and she chose life, and I commend her for that."
He said the situation in his family was not a rape, but "having a baby out of wedlock."
Asked whether that was similar to rape, Smith said: " No, no, no, but well put yourself in a father's position. Yes, I mean it is similar."
Smith later stressed he "didn't even come close to" comparing a pregnancy from rape to an out-of-wedlock one and he "absolutely" does not condone rape.
"But I am pro-life period. A life is a life, and it needs to be protected," Smith said.