Castro pleaded guilty to a long list of charges and committed suicide in prison in September 2013.
"I felt very appalled by it, but I understood," Knight said of Castro's prison suicide. "I don't condone what he did."
She received applause from the crowd when she said she hopes for the best for Castro's family.
"A lot of people who have contacted me through Facebook see me as an inspiration," said Knight, who has written a book about her ordeal called "Finding Me." "It means the world to me and it is an honor to help everybody I can."
Knight said her time in captivity has made her stronger and has allowed her to know herself better.
"The situation (Castro) put me in didn't define me," she said. "I choose to live a meaningful life."
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