Collins, 67, headed to dinner at Mr. Chow restaurant in Beverly Hills, decked out in a leather jacket, a sweater and dark pants. The embattled actor was seen being accompanied by his lawyer, Mark Vincent Kaplan.
In December, Collins opened up exclusively to PEOPLE about the scandal, confessing that he had inappropriate sexual conduct with three female minors.
“Forty years ago, I did something terribly wrong that I deeply regret. I have been working to atone for it ever since,” he said.
He also addressed the recording that surfaced in October in which he is heard admitting to the allegations during a therapy session with his then-wife Faye Grant.
“On the recording, I described events that took place 20, 32 and 40 years ago,” Collins told PEOPLE. “The publication of the recording has resulted in assumptions and innuendos about what I did that go far beyond what actually occurred. As difficult as this is, I want people to know the truth.”
He also revealed that he has since met with one of the victims. “I did have an opportunity to do so with one of the women, 15 years later. I apologized and she was extraordinarily gracious.”
In January, Collins and Grant, 57, settled their contentious divorce, which included a 50/50 split of the sale of their pricey Brentwood homes but no spousal support for either party, allowing them to avoid a public trial.