He said maybe he went a little too far and in hindsight, it was not the best first, or even second, impression to make.
"I suppose I think part of what I got caught up in...I forgot this is the first time people were seeing me on TV again after Idol ," said Lambert. "And I didn't really think about that as objectively as I might have wanted to."
Lambert was criticized for his male on male kiss and a performance that had S& M overtones. After the performance, he said he felt there's a double standard for men and women when it comes to musical performances.
Lambert also said he felt people walked away from his performance thinking he disrespected the audience, and never intended to do that.
You can see Lambert on the Tonight Show with Conan O'Brien Monday, Dec. 14.