Kendra Wilkinson and her husband Hank Baskett's marriage is in a way better place. After Baskett's alleged cheating scandal rocked the former Playboy bunny's life, the couple decided to work through their marital crisis in order to keep their family together. Now, Wilkinson is joining fellow reality TV star Khloé Kardashian as a guest on her hit FYI late night talk show "Kocktails with Khloé," and she opens up about how she plans to talk about her husband's affair with her two small children.

In a sneak peek for the Wednesday episode of "Kocktails with Khloé," Kardashian brings up Baskett's alleged affair and asks Wilkinson if she plans to be open with her children about their dad's alleged affair since the incident played out in the tabloids and on Wilkinson's We TV reality show "Kendra On Top."

"Yeah," Wilkinson responds. "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."

Baskett, a former NFL player, made headlines in 2014 when it was revealed that he allegedly cheated on his wife with transgender model Ava Sabrina London while Wilkinson was pregnant with the couple's second child, 2-year-old daughter Alijah Mary Baskett (they also share 6-year-old son Hank Baskett IV).

The widely publicized affair played out in the tabloids, and the couple agreed to join the season 3 cast of We TV's "Marriage Boot Camp: Reality Stars." During a two-week counseling program to repair the issues in their marriage, Baskett explained that he didn't cheat on his wife with London, but rather London was lying about their affair to extort him for cash. At the end of the season, Wilkinson announced that she believed her husband and vowed to stand by him- another value that she plans to instill in her children.

"I'm a free spirit, I walk around naked-I'm that girl next door," Wilkinson tells Kardashian. "So I'm going to teach free spirit stuff to my kids. Like, I'm going to make sure that they know like, to each their own. If you're not harming someone, if you're not doing any harm to yourself-be the person you want to be. Like, do what you want to do. You're your own self and be true to yourself. As people being on earth, we have a job to help each other, care for each other. If somebody needs your help-you better stick it out with them."

Watch the full sneak peek below and be sure to catch tonight's episode of "Kocktails with Khloé," airing at 10 p.m. on FYI.