01/03/2012 02:27 pm ET Updated Mar 04, 2012

'Real Housewife' Kyle Richards Says Cheating Once Is Free Pass

Between Bravo cast mates Taylor Armstrong's and Camille Grammer's disastrous marriages, Kyle Richards' 16-year union to Mauricio Umansky may appear the model of marital bliss, but its endurance may be explained by the Real Housewife's unconventional beliefs.

Promoting her book "Life Is Not A Reality Show" on "Good Morning America" on Monday, Richards said she stayed grounded in her marriage to Umansky by mutually staying appreciative of each other.

But in the book, the twice-married, mother-of-four also compares cheating once to getting a free pass, and advises her readers not to tell the other partner.

"I've seen circumstances with people that I know, [who] are in love with their spouse, and they made one mistake... Listen, if this really was a one-time mistake, and you did not put this person in jeopardy, I personally think you should deal with it yourself and with God, and not go and say, 'Honey look what I did.' Because I knew this would ruin the relationship and their life. So I said, it did not happen," Richards told host Robin Roberts.

"I can tell you many many many years later, they're happy together, and she did make that mistake, and she has to carry that and live with that. And it's not me! My husband's over there sweating bullets! I knew that I would get a lot of heat for that, but I do feel it, and I do know they're still going strong."

Check out photos of other "Real Housewives" below.

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