Actor and comedian Kevin Hart has publicly apologised to his family for what he described as a "bad error in judgement", adding that he was "not going to allow a person to have financial gain off of my mistakes".

In a video posted to Instagram, The Central Intelligence and Ride Along star said: "I'm at a place in my life where I feel like I have a target on my back. And because of that I should make smart decisions. And recently, I didn't."

"You know, I'm not perfect," the 38-year-old continued. "I'm not going to sit up here and say that I am or claim to be in any way, shape or form.

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"I made a bad error in judgement and I put myself in a bad environment where only bad things can happen, and they did.

"In doing that, I know that I'm going to hurt the people closest to me, who've I talked to and apologised to, being my wife and my kids."

Kevin Hart and wife Eniko Parrish at the Critics' Choice Awards in Santa Monica, California in December 2016

Hart described the present time as "a s**** moment". 

"It's a s***** moment when you know you're wrong and there's no excuses for your wrong behaviour," he said.

"At the end of the day, man, I just simply have got to do better."

Ending the video on a note of defiance, Hart concluded: "I'm also not going to allow a person to have financial gain off of my mistakes and in this particular situation that was what was attempted. I said I'd rather fess up to my mistakes."

Hart and his wife Eniko Parrish married in 2016 and are expecting their first child, a boy. The star has two children from his previous marriage.