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10/06/2014 09:48 am ET Updated Oct 06, 2014

Kris Jenner Opens Up About The Late Robert Kardashian

Dominique Charriau via Getty Images

Kris Jenner opened up about her former husband, the late Robert Kardashian, on "Beyond Candid With Giuliana!" on Sunday.

In an intimate interview with Giuliana Rancic, the famous mom spoke candidly about her previous marriage and split, revealing that the divorce will "always be a regret."

"I wasn't mature enough to know that marriage has its ups and downs," she said.

Jenner also spoke to Rancic about her ex's cancer diagnosis.

"It was so surreal, the knowledge he had cancer was one thing, but to think it would actually take his life, I never in a million years thought that would happen to him."

Jenner was married to Kardashian from 1978 until 1991, during which time the couple welcomed four children: Kourtney, Kim, Khloe and Rob. The reality star told Rancic that she went on her first date with Bruce Jenner very shortly after calling it quits with Kardashian, and married the former Olympian that same year. The pair went on to have two children of their own, Kendall and Kylie. In terms of raising the kids, Jenner said that Bruce and Robert had a "united front all the way around."

On her pending divorce from her second husband, the star said: "It makes me really sad. I feel like I failed at something because I wanted it to be that relationship for the rest of my life."

Check out more of Jenner's interview, in which gets candid about her friendship with Nicole Brown Simpson, her difficult pregnancy with Kylie, and more.

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