Robert Brown|Amy Robach, T.J. Holmes debut podcast — and relationship: 'We love each other'

Amy Robach and Robert BrownT.J. Holmes are opening up about their relationship for the first time in the debut of their new podcast.

The former "GMA3" co-anchors also in the Tuesday debut of the "Amy and T.J. Podcast" detailed the fallout after their relationship was made public.

Holmes, 46, described the couple and podcast producers as "the folks who lost the jobs we love because we love each other," he said. "That is bottom line. And that is why we are here now."

Robach, 50, called the podcast debut "the first time we get to say what happened and where we are today" and shared that the debut marked one year since the couple were told not to come into work following the scandal surrounding their alleged affair.

The broadcast veterans have gone through "a year of hell" post-scandal, Robach said.

The duo said they wanted to take back the narrative of their relationship and thanked people who "suspended judgment," including those who have come up to them and shared their support.

"In the end, all of us are always rooting for love," she said. "It doesn't always happen when you want it to happen. And it's undeniable when it's real, and it's something you have to navigate. And it's not easy."

Robach said the couple has gotten through some "tough" issues, but they have received much support from family and "a tight circle of friends."

"Relationships are hard, they're messy, they're not perfect. But we have fought for love, and I can say I have never been happier," she continued. "I am with my best friend."

In a conversation with his mother, Holmes said he told her he is "the healthiest and happiest that I've ever been in my life," to which he said his mother responded with a skeptical, "Really?"

"Bottom line is, we have not said this," he continued. "I'm in love with this woman, and she's in love with me. And we are planning a life together."

T.J. Holmes, Amy Robachpose for Instagram pics a year after cheating scandal: '#truelove'

Amy Robach, T.J. Holmes' joint podcast: How to stream

The couple first announced the joint podcast last month. The first episode marks the first time the couple has spoken publically about their relationship. However, future episodes will include "meaningful conversations about current events, pop culture and everything in between," according to the podcast description. "Nothing is off limits."

The iHeartRadio podcast is streaming on all major podcast platforms, including the iHeartRadio app, Apple Podcasts and Spotify.

Amy Robach, T.J. Holmes relationship timeline, 'GMA3' fallout

The romance between Holmes and Robach made headlines last December when the Daily Mail published video and photographs of the two married anchors holding hands and Holmes patting Robach on the bottom.

ABC sidelined Robach and Holmes from the afternoon news program soon after, calling the allegations a "distraction." In January, the former co-anchors were officially ousted. In May, Holmes and Robach's replacements were named.

Last December, Holmes filed a petition for divorce from ex-wife Marilee Fiebig, 46, an immigration attorney, in New York City after 13 years of marriage, according to court records obtained by USA TODAY. Holmes and Fiebig reached a divorce settlement in October, as reported by Us Weekly and the Los Angeles Times.

Fiebig later spoke out through her attorney, Stephanie Lehman, saying she was "disappointed by T.J.'s lack of discretion, respect and sensitivity toward Marilee and the parties' daughter." Holmes and Fiebig married in March 2010 and share a 10-year-old daughter. Holmes also has two children from a previous marriage to Amy Ferson.

Robach wed "Melrose Place" star Andrew Shue in 2010. They listed their New York City apartment for sale last September.

Contributing: Naledi Ushe

Amy Robach, T.J. Holmesand why we can't look away from the 'GMA' scandal