The latest episode of Will Smith’s Facebook Watch series Bucket List was about much more than a fun adventure. The rapper-turned-movie star went to the Abu Dhabi Grand Prix with his eldest son Trey to not only race cars but also bond with his firstborn.

Smith had Trey, who’s 26 now, with his first wife Sheree Fletcher. After divorcing Fletcher in 1995, Smith married Jada Pinkett in 1997 and went on to have two children together. The Fresh Prince noted how he and Trey have only begun to deal with the fallout out of this family upheaval in recent years.

“This relationship with Trey is brand new,” he said. “When you get divorced and then start another family, that had effects on Trey that we’re still healing and overcoming. Really in the last two years has there been enough wisdom and emotional development to be able to lovingly address the issues. We’re diving into creating a divine, loving friendship.”

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Smith admitted he failed to spend enough time with Trey for the majority of his son’s life. Now, he’s working to improve their relationship.

“The central components of love are time and attention,” Smith explained. “You cannot get around spending time if you wanna build love. It’s something I failed at for most of Trey’s life, but I’m going to dedicate the rest of my life to making up for it.”

Check out Smith’s Bucket List episode featuring Trey below.