Wilkinson tells Khloé Kardashian: "I'm going to teach free spirit stuff to my kids. I want to make sure they know that like, you know, 'To each their own' "

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Credit: Jim Wright

Kendra Wilkinson and Hank Baskett vowed to put his 2014 cheating scandal behind them long ago, but that doesn’t mean there wasn’t an uncomfortable conversation with their children ahead of them.

On Wednesday’s Kocktails with Khloé, Khloé Kardashian asks Wilkinson, 30, how she’s broached the conversation with Hank IV, 6, and Alijah, 22 months.

“We’re trying to obviously beat all this to the punch and just teach our kids who we are and show them love and show them happy parents and be as open as we can,” says Wilkinson.

“You know, I’m a free spirit: I walk around naked – they’re going to eventually run across [me],” she continues. “So I’m going to teach free spirit stuff to my kids. I want to make sure they know that like, you know, ‘To each their own.’ If they’re not harming someone, if you’re not doing any harm to yourself, be the person that you want to be, do what you want to do and be true to yourself.”

She adds, “As people being on earth, we have a job to help each other, care for each other. If someone needs your help, you better stick it out with them.”

And Wilkinson has managed to “stick it out” with Baskett, 33, in the nearly two years since he reportedly had an affair with a transgender model when Wilkinson was eight months pregnant with Alijah.

“I messed up,” Baskett told PEOPLE of the encounter, which was in part caused by drug use. “I put myself in a bad situation. And everything through me brought pain upon this family.”

Still, the couple has maintained a mostly united front as they’ve battled ups and downs on the way to their seventh wedding anniversary in June.

While Baskett forgave the woman who exposed his infidelity to the public, Kendra posted a testament to her commitment on Instagram last July: “I believe in forgiveness and I believe in him. I take my vows very serious and won’t let people’s beliefs get in my way of what I know.”

Kocktails with Khloé airs Wednesdays (10 p.m. ET) on FYI.