Country singer Ty Herndon has just announced that he is gay.

The 51-year-old musician, who has had a long career in country music, decided to open up to the public about his sexuality in order to help others who may be struggling to come out in their own lives.

According to Herndon, he realized that he had an important story to share with the world about five years ago.

"During an Anthony Robbins seminar, I realized I had an incredible story that could possibly help someone's son or daughter or grandchild's life not be as difficult as mine has been," he told PEOPLE. "Maybe they wouldn't have to go through as much pain and suffering. It's time to tell my truth."  

"I'm an out, proud and happy gay man," added the singer, who is known for chart-topping hits like "What Mattered Most" and "Living in a Moment."

Herndon told PEOPLE that many people around him have known he was gay for years, although he hadn't shared that information publicly. As for his personal journey, Ty first realized he was gay at the age of 10.

"I was 10, sitting in church and horrified that I might be a homosexual. Whatever that word meant, I knew that I probably was one," recalled Herndon. "And I know there's a lot of those kids still out there. Telling my story is an opportunity to help just one of them."

"My mother probably knew I was gay before I did. I remember sitting down with her and having the conversation," added the singer. "She was more concerned about me having a happy life. You have to be able to do that in your own skin, and [my family] has seen me struggle with being gay my whole career."

Herndon was married twice but both were short-lived. The singer revealed that both of his ex-wives have known that he was gay for some time.

During his second marriage, Herndon was arrested for drug possession and exposing himself to a police officer in Fort Worth, Texas's Gateway Park.

"I have made a lot of mistakes in my life. They've been my mistakes, and I own them," said Herndon. "I've done a lot of work around forgiveness with people that I've hurt and people I've not been honest with because of my sexuality."

Ty, who is currently working on his next album and in a happy relationship with his partner Matt, hopes that coming out, particularly as a member of the country music community and the Christian faith, will inspire others to embrace acceptance, whether of themselves or of others.  

"They can be loved by God, they can be married one day, they can have a family, they can give their parents grandkids," said Herndon, referring to his hopes for other gay men and women. "And they're not broken, they're not sinners and they're perfectly beautiful."

"I sit on the tailgate of my pickup truck, and I meditate, and I talk to God," he added. "That's really all I need to know. I have a connection to something bigger than myself, and no one's going to tell me that I can't have it. We get to choose who we love, and that includes God, and he loves us back."