Read more: Martin Sheen says his son Charlie’s battle with substance abuse is like having 'cancer'

Read more: Charlie Sheen could be set to bank $7million from his upcoming tour

Speaking out for the first time about his troubled son Charlie, acting legend Martin Sheen said he understands what he is going through.

"I know what hell he's living in," says Sheen. "I've had psychotic episodes in public. One of them was on camera -- the opening scene of 'Apocalypse Now.' So I know what Charlie is going through. And when you do something like that, that is out of control, that's the most difficult thing. You have to have courage."

Sheen has been open about his own battle with alcohol addiction and mental illness, much like what his son is going through.

"I was so interested in myself, I didn't really focus on what [my kids'] needs were, or what their aspirations were," says Sheen.

"You know, Charlie's 45 years old. He's not a kid," Sheen told the Telegraph. "Emotionally he still is.

Because when you're addicted, you don't grow emotionally. So when you get clean and sober you're starting at the moment you started using drugs or alcohol. You're emotionally crippled."

When asked what will help his son through his battle, Sheen said that faith was the answer.

"Faith can help all of us," says Sheen, a devout Catholic. "Addiction is the dark side. It's a reflection of despair."

Read more: Martin Sheen says his son Charlie’s battle with substance abuse is like having 'cancer'

Read more: Charlie Sheen could be set to bank $7million from his upcoming tour