"So … it was just a personal situation. Too many drinks," she said.
"Living with that and having to explain to my kids in the future is going to be very difficult. Especially when you've got three girls.
"I remember sitting on the side of the street and not being able to take it anymore. And just thinking, 'If this is what life's about then I can't take it anymore'."
Speaking to camera, Warner added: "Yes, I'd made a mistake. But is that really worth, every single day, the media trying to drag me down? I don't think so."
Warner had previously spoken on SAS Australia about her tryst with Williams, who was celebrating a win with his Bulldogs teammates when the pair hooked up.
Earlier in the series she revealed she was still haunted by her liaison with the famous football star.
"It is something I am not proud of but something I can never take back," Warner said.
"I put myself in a situation where I shouldn't have and because of that I brought embarrassment (and) shame to my family."
The incident has continued to follow Warner in her life. During the Australian cricket team's ill-fated tour of South Africa in 2018, when the ball tampering scandal occurred, Candice was mocked by fans wearing Williams face masks at the second Test in Port Elizabeth.
"There were incidents in South Africa where people were trying to make fun of me, mock me. Belittle me in front of my family," Warner previously told SAS.
"Because of an incident that happened in the past. And they think it's funny."
During that same tour, David revealed why he had to be physically restrained by teammates when confronting South African wicketkeeper Quinton de Kock in a Durban stairwell mid-match after hearing a "vile" comment the player allegedly made about his wife.
"I cop it left, right and centre, especially off the field from spectators and I'm used to that and it doesn't bother me," Warner said at the time.
"But in a proximity of my personal space and from behind me, a comment that was vile and disgusting about my wife, and in general about a lady, was quite poor, I felt.
"My emotional response was just something that I don't believe should have been said and I'll always stick up for my family and in that case my teammates as well."