In an exclusive sneak peek at Friday's episode, Baskett, 32, engages in a therapy exercise with one of the reality show's marriage counselors, Jim Carroll.
To recap, news broke in 2014 that Hank Baskett had an alleged affair with a model while his wife, Wilkinson, was eight months pregnant. In July, Baskett told PEOPLE exclusively that he "messed up" and put himself "in a bad situation" but that the model touched him without his consent.
"Everything through me brought pain upon this family," said the former football player, who has two children with Wilkinson, Hank IV, 5, and Alijah, 14 months.
Wilkinson, 30, told PEOPLE in July that she's "finding the trust again."
In the Marriage Boot Camp exercise with Baskett, Carroll plays the role of the transgender model.
"You're such a handsome guy," he says as he stands facing Baskett, rubbing his shoulders. "I'll keep my mouth shut if you give me $5,000. Nobody will know what we did."
Carroll's wife Elizabeth, who is also part of the reality show's marriage counselor team, tells the camera that the forgiveness exercise is designed to release the person from "emotional trauma inflicted by a person or an event from your past."
"Hank wanted to address his childhood asthma, but he's avoiding the much bigger obstacle in his marriage right now," Elizabeth says.
Jim adds that unless Baskett can forgive the model "that made his private life very public, his and Kendra's relationship will not heal."
As Kendra anxiously watches the exercise take place from afar, Jim places his hands on Baskett's shoulders.
"Put your hands on me. This is what you wanted, isn't it?" he says. "We can have a good time together cause that's what I'm going to tell everybody. You and me are a couple. I control you. You're never going to be free of me. I got you all locked up – just like you were in our house. You couldn't even move."
Baskett closes his eyes and presses his lips together.
"You going to let me control you for the rest of your life?" asks Jim.
"No. I'm forgiving this. I forgive," says Baskett. "I forgive you for this pain that you have put my family through, my kids who have no idea what's going on in the world, who have to see this one day. I forgive you for what you've done."
As he starts to tear up, Baskett also forgives himself.
" I forgive myself," he says, his voice cracking. "I forgive myself in this – the pain that I put on myself, the people I love."
Watch the second exclusive clip below to find out how Wilkinson reacted to the exercise.
Marriage Boot Camp: Reality Stars airs Fridays at 9 p.m. ET on WE tv.