Lamar Odom has zero regrets about his reality TV past -- in fact, he says the experience was the best part of his adult life and he desperately wants to repair his relationship with the Kardashians.
39-year-old Odom appeared on "TMZ Live" and told us how taking up motivational speaking with a company called MicDrop has become therapeutic for him. He's learning to forgive himself for the mistakes he's made in the past ... from drug use to other bad life decisions.
One of those mistakes ... Odom says he feels he's failed as a father.