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June 03, 2016 11:45 AM

Bobby Brown is opening up about the deaths of Whitney Houston and daughter Bobbi Kristina.

In a candid interview with ABC News’ Robin Roberts on 20/20, the 47-year-old talks about his daughter’s drug abuse – and the striking similarities in the deaths of his daughter and his ex-wife.

“The same thing that happened to my daughter, it happened to Whitney,” he tells Roberts.

Brown and the late Houston were married for 15 years.

Bobbi Kristina Brown died on July 26, 2015, nearly six months after she was found unresponsive in a bathtub in her Roswell, Georgia, home last January.

Sources familiar with the situation previously told PEOPLE that the 22-year-old used heroin, cocaine and Xanax in the months leading up to her being found unconscious.

Bobbi Kristina Brown with late mother Whitney Houston in 2011
WireImage

“My baby’s gone. I thank God I’m still here,” Brown told Roberts. “The hardest thing I had to do in my life was tell my daughter to let go.”

Houston died in 2012 at the age of 48 after being found unresponsive in a bathtub at a Beverly Hills hotel.

Officials announced that the legendary singer died of an accidental drowning. Contributing factors included heart disease and cocaine use.

Brown is sharing his story in an upcoming memoir titled Every Little Step. The book is slated for release this month.

The one-on-one interview will air at 10 p.m. on Tuesday, June 7, on ABC.

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