Peter Facinelli says co-parenting with his ex, Jennie Garth, is a daily process.
“When you’re going through it yourself, you have to take it day by day,” Facinelli says about caring for daughters Luca, 14, Lola, 9, and Fiona, 6, with Garth.
The couple split in March after 11 years of marriage.
The Twilight actor, who spoke with PEOPLE while promoting the Sears Outdoor Life collection in New York on Thursday, says he enjoys having quality time with his daughters by taking them on road-trips and outdoor adventures.
“I take the girls RV-ing all the time,” says Facinelli, 38. “There’s a lot of s’mores-making and singing by the campfire.”
For Facinelli, these great escapes are necessary. “It’s something about being in the woods. It slows everything down and you’re a part of nature and just spending time with your family. It’s pretty great.”
As for how his girls like roughing it, “They bring out my sensitive side and I toughen them up a little bit,” he says.
Garth, 40, who recently dropped 30-lbs. and rebooted her life, has told PEOPLE, “Peter and I are great parents together.”
Facinelli shares that sentiment. “Co-parenting takes two great parents to put their differences aside and focus on the children,” he says, “and that’s what I’ve been doing.”