In her own words: Danielle Staub explains what it took for her to return to 'Real Housewives of New Jersey'

Danielle Staub is finally returning to "Real Housewives of New Jersey," and it was a long road back for the controversial reality star.

Staub appeared on the Bravo series' first two seasons and was a de facto magnet for drama as her fellow cast mates uncovered alleged secrets about her past that were detailed in her ex's book, Cop Without a Badge. Teresa Giudice famously flipped a table on her in a restaurant while calling her a "prostitution whore," in one of the franchise's most memorable moments to date.

SEE ALSO: New 'Real Housewives of New Jersey' star Margaret Josephs reveals why it was 'perfect timing' for her to join the show

After five seasons and seven years away, though, Staub is back and ready to prove to viewers and her cast mates that she's been misunderstood all along. We recently caught up with the 55-year-old mother-of-two to discuss her return to "Real Housewives of New Jersey," and she provided us with a thorough explanation of what it took for her to agree to return:

"I had been asked back several times by Andy [Cohen], but I just didn’t feel the time was right," she began. "We’ll leave the rest of the explanation out of there, because it’s obvious what else might have been going on in my head. Teresa reaching out to me right after she got released [from prison] was a pretty big deal, and I think it was what really pushed the momentum forward for me to join again.

See photos of Danielle Staub:

19 PHOTOS
'Real Housewives of New Jersey' star Danielle Staub
See Gallery
'Real Housewives of New Jersey' star Danielle Staub
NEW YORK, NY - OCTOBER 02: TV personality Danielle Staub visits SiriusXM Studios on October 2, 2017 in New York City. (Photo by Ben Gabbe/Getty Images)
NEW YORK, NY - SEPTEMBER 13: Danielle Staub attends OK! Magazine's Fall Fashion Week 2017 Event at Hudson Hotel on September 13, 2017 in New York City. (Photo by Mike Pont/Getty Images,)
WATCH WHAT HAPPENS LIVE WITH ANDY COHEN -- Pictured: Danielle Staub -- (Photo by: Charles Sykes/Bravo/NBCU Photo Bank via Getty Images)
THE REAL HOUSEWIVES OF NEW JERSEY -- Season:8 -- Pictured: Danielle Staub -- (Photo by: Rodolfo Martinez/Bravo/NBCU Photo Bank via Getty Images)
NEW YORK, NY - FEBRUARY 10: Danielle Staub and Marty Caffrey attend Illumination PR x NYFW Celebrity Beauty Bar at The Time New York on February 10, 2017 in New York City. (Photo by Manny Carabel/Getty Images)
EDGEWATER, NJ - JANUARY 14: President/founder of Devotion Vodka Drew Adelman and TV personality Danielle Staub attends Staub's housewarming party on January 14, 2017 in Edgewater, New Jersey. (Photo by Jim Spellman/Getty Images)
ENGLISHTOWN, NJ - OCTOBER 04: (EXCLUSIVE COVERAGE) Real Housewives of New Jersey Cast member Danielle Staub and boyfriend Marty Caffrey attend wine tasting at Tomasello Winery at Wemrock Orchards in New Jersey on October 4, 2016 in Englishtown, New Jersey. (Photo by Bobby Bank/Getty Images)
NEW YORK, NY - OCTOBER 13: TV personality Danielle Staub (R) and her daughter Jillian attend AT&T Live Proud at Highline Ballroom on October 13, 2014 in New York City. (Photo by Bryan Bedder/Getty Images for AT&T Live Proud)
WEST ORANGE, NJ - MAY 10: Danielle Staub and Jillian Staub attend Jillian Staub's 'Diamonds In The Dark' Sweet 16 Party at The Wilshire Grand Hotel on May 10, 2014 in West Orange, New Jersey. (Photo by Michael N. Todaro/Getty Images)
THE REAL HOUSEWIVES OF NEW JERSEY -- Pictured: (l-r) Melissa Gorga, Dolores Catania, Danielle Staub, Teresa Giudice, Siggy Flicker -- (Photo by: Greg Endries/Bravo/NBCU Photo Bank via Getty Images)
NEW YORK, NY - SEPTEMBER 30: Danielle Staub attends the 5th Annual Cristian Rivera Celebrity Gala at The Copa on September 30, 2013 in New York City. (Photo by Johnny Nunez/WireImage)
WATCH WHAT HAPPENS LIVE -- Pictured (l-r): Andy Cohen and Danielle Staub -- Photo by: Charles Sykes/Bravo/NBCU Photo Bank via Getty Images
NEW YORK, NY - NOVEMBER 15: La Toya Jackson and Danielle Staub attend Henri Bendel holiday window unveiling 2012 at Henri Bendel on November 15, 2012 in New York City. (Photo by Jamie McCarthy/Getty Images for Henri Bendel)
NEW YORK, NY - NOVEMBER 12: Danielle Staub and her daughters,Jillian Staub and Christine Staub filming on location for 'Celebrity Apprentice All Stars' on November 12, 2012 in New York City. (Photo by Bobby Bank/WireImage)
NEW YORK, NY - OCTOBER 16: Danielle Staub filming on location for 'Celebrity Apprentice All Stars' on October 16, 2012 in New York City. (Photo by Bobby Bank/WireImage)
HOBOKEN, NJ - JUNE 13: Danielle Staub attends the Cristian Rivera Foundation Fundraising Event at Zylo Restaurant on June 13, 2012 in Hoboken, New Jersey. (Photo by Johnny Nunez/WireImage)
EDGEWATER, NJ - MARCH 30: Danielle Staub visits Hollywood Tans at Edgewater Commons on March 30, 2012 in Edgewater, New Jersey. (Photo by Dave Kotinsky/Getty Images)
NEW YORK, NY - FEBRUARY 10: Jessica Caban and Danielle Staub attends EQ Enterprises And Manhattan Motorcars Present: NY Fashion Week Kickoff Event at Bryant Park Hotel on February 10, 2012 in New York City. (Photo by Jerritt Clark/Getty Images for Eq Enterprises)
HIDE CAPTION
SHOW CAPTION
of
SEE ALL
BACK TO SLIDE

"I remained in talks with Andy over the years on a regular basis -- maybe once or twice a month," Staub continued. "Although I wanted to come back, my fears were in place. But Teresa reaching out to me and Andy bringing me onto Bravo here and there really kept me in the right people’s heads, and I think it nudged Teresa a little bit to do what she was already going to do."

"The 'single mom' card was now in place for her, too, and it made me more relatable [to Giudice] and understandable to what might have been going on in seasons 1 and 2," Staub explained. "When she reached out with an apology, that’s really all it takes for me to begin anew. I’m not saying it erases everything, but I’m saying it’s a beginning and it speaks volumes about the person handing out the apology. That takes a lot of courage."

"It also took Teresa some convincing," she continued about her fellow original cast member. "I mean, we’re the OGs. Only me and Teresa are the people who were there [at the beginning], and we’re letting our relationship be seen, so the viewers can understand our journey. We’re going to let you see it all."

"On the other end -- on the production end -- they had to convince me that things weren’t as they used to be," she added. "That was a whole different animal altogether. I filmed an awful lot this season, but not as much as I film next season or the season after -- I hope! -- but I’ll be honest, every single solitary time you’ll see me this season, it was on the heels of a 3 to 5-hour conversation with the producers and executives to convince me that I would be handled a little differently. Everything is different now."

"That’s how I’m back," she finished. "I can’t express how happy I am, and everyone convincing me of how things would be didn’t lie to me. Everyone’s treated me with dignity and respect, and I’m absolutely thrilled to be back home where I feel like I belong."

"Real Housewives of New Jersey" returns on Oct 4. at 9 p.m. EST on Bravo.

See photos of new "Real Housewives of New Jersey" cast member Margaret Josephs:

12 PHOTOS
'Real Housewives of New Jersey' star Margaret Josephs
See Gallery
'Real Housewives of New Jersey' star Margaret Josephs
THE REAL HOUSEWIVES OF NEW JERSEY -- Season:8 -- Pictured: Margaret Josephs -- (Photo by: Rodolfo Martinez/Bravo/NBCU Photo Bank via Getty Images)
THE REAL HOUSEWIVES OF NEW JERSEY -- Season:8 -- Pictured: (l-r) Margaret Josephs, Teresa Giudice, Melissa Gorga, Dolores Catania, Siggy Flicker -- (Photo by: Rodolfo Martinez/Bravo/NBCU Photo Bank via Getty Images)
NEW YORK, NY - OCTOBER 02: Fashion designer and TV personality Margaret Josephs visits SiriusXM Studios on October 2, 2017 in New York City. (Photo by Ben Gabbe/Getty Images)
NEW YORK, NY - OCTOBER 02: (L-R) TV personalities Margaret Josephs, Danielle Staub and Melissa Gorga of The Real Housewives of New Jersey visit SiriusXM Studios on October 2, 2017 in New York City. (Photo by Ben Gabbe/Getty Images)
NEW YORK, NY - SEPTEMBER 13: Margaret Josephs attends OK! Magazine's Fall Fashion Week 2017 Event at Hudson Hotel on September 13, 2017 in New York City. (Photo by Mike Pont/Getty Images,)
NEW YORK, NY - SEPTEMBER 13: Margaret Josephs and Danielle Staub attend OK! Magazine's Fall Fashion Week 2017 Event at Hudson Hotel on September 13, 2017 in New York City. (Photo by Mike Pont/Getty Images,)
THE REAL HOUSEWIVES OF NEW JERSEY -- Pictured: (l-r) Margaret Josephs, Melissa Gorga, Siggy Flicker, Danielle Staub, Dolores Catania, Teresa Giudice -- (Photo by: John Parra/Bravo/NBCU Photo Bank via Getty Images)
THE REAL HOUSEWIVES OF NEW JERSEY -- Pictured: (l-r) Danielle Staub, Margaret Josephs, Teresa Giudice, Melissa Gorga, Siggy Flicker, Dolores Catania -- (Photo by: John Parra/Bravo/NBCU Photo Bank via Getty Images)
NEW YORK, NY - SEPTEMBER 24: Jane Hanson, Margaret Josephs and Amy Rosenblum attends the Media Masters One Year Anniversary at Private Residence on September 24, 2013 in New York City. (Photo by Bobby Bank/WireImage)
NEW YORK, NY - SEPTEMBER 24: Rob Schuyler Amy Rosenblum, Rosanna Scotto and Margaret Josephs attends the Media Masters One Year Anniversary at Private Residence on September 24, 2013 in New York City. (Photo by Bobby Bank/WireImage)
NEW YORK CITY, NY - NOVEMBER 20: Margaret Josephs and Debra Michiels attend THE SAMUEL WAXMAN CANCER RESEARCH FOUNDATION Benefit: Collaborating For A Cure at 69th Regiment Armory on November 20, 2008 in New York City. (Photo by PATRICK MCMULLAN/Patrick McMullan via Getty Images)
HIDE CAPTION
SHOW CAPTION
of
SEE ALL
BACK TO SLIDE

More from AOL.com:
Mila Kunis reveals who she wanted Rachel Lindsay to pick on 'The Bachelorette'
Maddie Ziegler 'never' did this one signature thing while dancing until she met Sia
Kate Walsh reveals the 'silver lining' of her brain tumor diagnosis

Read Full Story

Sign up for Entertainment Insider by AOL to get the hottest pop culture news delivered straight to your inbox!

Subscribe to our other newsletters

Emails may offer personalized content or ads. Learn more. You may unsubscribe any time.