Sen. Craig told Lauer it was a "tough call" not to tell anyone about the incident. "I didn't want to embarrass my wife, my kids, Idaho and my friends," Craig said. "And I wrestled with it a long while. ... I should have told my wife. I should have told my kids. And most importantly, I should have told counsel."
The senator also discussed his relationship with Republican presidential candidate Mitt Romney. Craig was Senate liaison for Romney's campaign, a post he abandoned when the scandal came to light.
"I was very proud of my association with Mitt Romney," Craig told Lauer. "... And he not only threw me under his campaign bus, he backed up and ran over me again."
Lauer's interview with the Craigs will be broadcast Tuesday night on "Matt Lauer Reports" and Wednesday morning on "Today."
Grab the popcorn!