Convicted Scott Peterson reveals his theory about his wife's murder 20 years later

Scott Petersonwho is currently serving a life sentence without parole in connection with the murder of his wife in 2004, Lacyand her unborn son revealed a theory about her death in an attempt to clear his name.

Peterson, 49, spoke publicly for the first time in 20 years during peacockThe new documentary Face to face with Scott PetersonHe denied killing his family, claiming instead that a “break-in” in their Modesto, California, neighborhood led to the disappearance of his eight-months-pregnant wife.

“There was a break-in across the street from our house,” Peterson said during an interview at Mule Creek State Prison via E! News“And I think Laci went there to see what was going on and then she was kidnapped.”

An earlier preview of the peacock In the docuseries, Peterson claimed he made a “terrible mistake” by having an extramarital affair with a massage therapist Amber Frey.

“It's horrible. I was a total asshole for having sex outside of our marriage,” Peterson said via PEOPLE.

The former salesman also claimed that police and prosecutors ignored clues and used circumstantial evidence in the 2004 double murder trial. Laci was reported missing in December 2002 and her body was found washed up in San Francisco Bay in April 2003, near where the body of her unborn son was discovered days later.

Two strands of Laci's hair were collected from a pair of pliers found on her husband's boat, which was crucial evidence in his conviction. Prosecutors alleged that Peterson dumped his wife's body into San Francisco Bay and weighed it down with concrete anchors while he was out fishing on the day his wife disappeared.

Prosecutors also portrayed Peterson as a man who regretted becoming a father, claiming he killed his wife to avoid paying child support. Peterson never testified during his 2004 trial, a decision he said he regrets.

“But if I have the chance to show people the truth and they are willing to accept it, that would be the greatest thing I can accomplish right now – because I did not kill my family,” Peterson said via PEOPLE.