" We ’re all winging it . "

To celebrate her 50th birthday,Gabrielle Unionembarked on a journey of self-discovery while visiting countries in Africa with her family and closest friends. Her experience was filmed for a BET original calledGabrielle Union: My Journey to 50.

During a recent interview withE! News, Gabrielle opened up about how her relationship with her 4-year-old daughter Kaavia has evolved over the years.

“I think I was afraid of being a bad mom,” Gabrielle told E! News. “Of just not living up to the great moms that I grew up with.”

“I was afraid. I didn’t want my lack of understanding or knowledge on every single thing to leave this gaping hole in [Kaavia’s] life.”

Gabrielle remembered being a little more timid while parenting when Kaavia was very young, but she was ultimately reassured of her mommy abilities after spending some uninterrupted time with Kaavia for weeks in Africa.

Gabrielle described it as “beautiful” because she never got to spend time alone with anyone for that long…not even herself. That time with Kaavia boosted her confidence in how she’s raising her children.

“As I got more confidence,” she recalled, “I’m like, ‘Oh, we’re all winging it? We’re just doing the best we can.'”

“I’m raising happy, healthy, free Black girls, and it’s one of the best things I’ve ever done in my life,” Gabrielle concluded.

To learn more about Gabrielle and her transformative trip, check outGabrielle Union: My Journey to 50 when it hits BET+ on June 15.

Gabrielle poses for photographers on the red carpet at the Met Museum

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Gabrielle with her husband Dwyane Wade and their daughters Kaavia and Zaya