The 30-year-old television personality and 33-year-old retired NFL star revealed as much on Tuesday's episode of The Steve Harvey Show while discussing Baskett's highly publicized encounter with a transgender woman.
"I believed I was single for a little bit of time there. I had divorce on my mind," Wilkinson said. "Hank gave me the freedom to explore [being single] mentally, not physically. He wanted me to really know that this is what I want."
"I told her, 'Don't go cross the line. Because if you cross the line, then I know what you want,'" Baskett said. "I was like, 'You know, go out.' She was hanging out with people, people would text her. But I would rather that than her sneak around."
"I was like, 'You go on out. Me and the kids will still be here, so you can make a decision. I'll be here, comfortable. Go play around if you want,'" he later added.
Wilkinson and Baskett previously addressed the scandal in a July interview with People. Baskett admitted to seeking the woman out after seeing photos of her online but claimed she fondled him without permission.
"I didn't engage in anything," the former NFL player told the magazine. "It was like a bank robbery. You never know when you'll freeze ... I could do anything to protect my family but I couldn't protect myself."
"I don't say the word 'cheat,'" Wilkinson said. "I can say he was not loyal to me. I don't care about the act. I care about how he reacted to it and how I was told by the media what happened. That scarred me."
Wilkinson and Baskett married in 2009 and share 6-year-old son Hank Jr. and 23-month-old daughter Alijah. The couple documented the fallout of the scandal on their WE series, Kendra on Top, which airs Fridays at 9 p.m. ET.