'Terrifying': Real Housewife Recalls Horror Sex Assault at Age 15 

Richards was visibly unable to lift herself to the helicopter's cabin during the challenge, which is taken from the actual Army Special Forces selection process.

"I really want to learn how to not be overwhelmed by fear," Richards admitted on the show. "I've been through traumatic situations that have been very terrifying for me. I want to learn how to deal with those issues and be stronger."

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In the episode, the Directing Staff informed Richards that she seemed like a "deer in headlights" at the time. 

"It's hard. I'm completely out of my comfort zone," the Good Advice star said. "I'm not petrified. I'm emotional right now."

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Richards reflected on a traumatic incident that occurred while in the car with her husband, Aaron Phypers. 
"We were driving. He wanted to take me to [a] set," she said. "He didn't want me going alone, thank God, and we were physically shot at in his truck, and I sat on the floor and was just literally, I peed. I was so scared… I froze." 

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The 53-year old later described something that happened when she was an adolescent. 
"The first time I ever experienced that I was 15 and I noticed a man following me," she continued. "He came up from behind me, put his hand around my mouth, grabbed my v——, and started dragging me, and I froze, like I couldn't even scream for help."

Richards, who has three children, Sami, Lola and Eloise, said she wants to protect her girls at all times.
"It's so scary to have that situation, you know, that age and be so vulnerable," the actress admitted. "And I have three daughters, and I want them to be able to never go through that. And also, if something, God forbid, happen to be strong enough."
"I think that I haven't addressed a lot of what I have gone through, and it's very terrifying. I don't know if I would be able to get over my past," she continued.