Lambert went on, "Obviously it's too bad. I think there were a lot of fans that were excited to see me here in New York tomorrow, so I think that's probably kind of disappointing for them, and I feel bad about that."
"But I don't feel like I owe anyone an apology for anything," he went on. "I performed. It was late-night TV. I did something that female performers have been doing for years. It's just the fact that I'm me, and it's a little different for people. It's really not that big of a deal."
Lambert points out that other performers pulled controversial moves on the show as well. He says Rihanna appeared on-stage with guns, Eminem rapped about rape, Janet Jackson grabbed her crotch and Lady Gaga smashed whiskey bottles on a piano.
But he reasons that ABC "probably had a lot of pressure coming at them from certain people who weren't happy about it. And they have to do what they have to do. I don't necessarily agree with it."
As for parents who complained, Lambert -- who will perform on the CBS "Early Show" Wednesday morning -- said he's "not a baby-sitter. I'm a performer!"
In the end, "this is not that big of a deal. I think a mountain has been made out of a molehill... it got a little sexual. It wasn't meant to hurt anyone's feelings. I'm a sexual person."