Jordyn Woods admits kissing NBA player Tristan Thompson to Jada Pinkett Smith

Jordyn Woods and Kylie Jenner attend the Louis Vuitton Menswear Spring/Summer 2019 show as part of Paris Fashion Week on June 21, 2018 in Paris, France. Photo / Getty Images

Jordyn Woods has opened up about the cheating allegations surrounding herself, Tristan Thompson and Khloe Kardashian.

Talking to Jada Pinkett Smith on "Red Table Talk", the 21-year-old admitted kissing Tristan Thompson and called the scandal a "grown woman mess on another level".

Smith told her she needed to "heal, deal, and move forward".

In the interview, she said she was enjoying a night out in LA and just happened to see Thompson at the same bar.

"He was doing his own thing — that was it," she said.

She said she ended up being invited to an after-party at the NBA player's house, although added he did not personally invited her.

"I'm not thinking, 'I shouldn't be here'. That's my first step where I went wrong."

She said the two kissed on the lips.

She has denied allegations anything else happened, including rumours she gave him a lap dance or made out with him.

"We're in a group. Never once did we leave the public area to go to a bedroom, a bathroom — we're all in plain sight."

She did admit to putting her legs on him. "I understand why that'd be the story," she added.

When she was going to leave the party, she says Thompson approached her and tried to get her to stay.

"I was like, 'You know what, I need to go.' I had a car outside, there was a driver that had been waiting."

"I feel like I can't point fingers," she continued.

"I can't say you did this, because I allowed myself to be in that position. I allowed myself to be there," she said. "I never was belligerently drunk to where I can't remember what happened. I was never blacked out. There was alcohol involved. I was drunk, I was not tipsy, I was drunk, but I was not beyond the point of recollection. I know where I was."

"It was a kiss on the lips, but no tongue kiss. No making out," she said. "I don't think he's in the wrong either because I allowed [us] to be in that position. When alcohol is involved, people make dumb moves.

"I didn't know how to feel," she said. "[After I left] I was like, 'That didn't just happen.' I was leaving already so I walked out immediately after. I was in shock. I was like, 'Hmm, let me just pretend like that didn't happen.'"

"I'm no homewrecker. I would never try to hurt someone's home. Especially someone that I love. And someone who has a beautiful daughter. I would never try to steal someone's man. I don't need your situation. I really just hurt so many more people by not telling the truth."

Woods and Kylie Jenner grew up together and have been best friends for many years. That friendship is well documented on the "Keeping Up with the Kardashians" reality TV show.

Woods and the Smith family have been close for years as her late father helped produce "Fresh Prince of Bel Air".

Will Smith called into the show to offer Woods some words of encouragement.

"This world is not going to break you. We won't allow it," he said.