By Mark Gray
Updated November 21, 2016 04:01 PM

After Bobby Brown finished telling his story in his new autobiography Every Little Step: My Story, he felt a weight lifted off his shoulders.

“I’m just glad to get it all off my chest,” he told PEOPLE while attending the Soul Train Awards on Nov. 6 in Las Vegas. “I’m glad to move forward with my life. I’m doing a lot better than I was since I was born. It was just good to get it off my chest. I’m glad it’s out.”

The book pulls no punches, dealing with Brown’s sexual exploits, his marriage to Whitney Houston and his daughter Bobbi Kristina, who died on July 26, 2015. The former New Edition boy bander has since sued Bobbi Kristina’s boyfriend Nick Gordon, claiming he is responsible for his daughter’s death.

Joined by Alicia Etheredge-Brown, Brown seemed at peace on Sunday, holding his wife’s hand as he entered the award show. It’s one of their first public appearances together since they welcomed daughter Hendrix Estelle Sheba on July 21.

Asked about being a father for the seventh time, Brown said, “We’re happy and that’s the key to it, being happy.”

And, for a man who’s certainly dealt with his share of heartbreak, Brown, 47, told PEOPLE he still achieves happiness daily. How?

“Loving,” he said. “Loving every day. Loving every minute of it.”

The Soul Train Awards air Sunday at 8 p.m. ET on Centric and BET.