June 5, 2015 3:08 PM EDT

Jessa Seewald and Jill Dillard are speaking out in defense of their brother, Josh Duggar, who molested them when they were young.

However, the 19 Kids and Counting stars insist that Josh is not a “child molester or a pedophile or a rapist,” Jessa, 22, tells Megyn Kelly on Friday’s The Kelly File, airing on Fox News at 9 p.m. ET.

“This is something we chose to do, nobody asked us to do this,” adds Jessa in transcript excerpts released to PEOPLE of their first time speaking out since police reports revealed that the eldest of the expansive Duggar clan was investigated in 2006 for molesting five underage girls as a teen.

A portion of their interview with Kelly aired Wednesday, where they admitted to being two of Josh’s victims but that they wanted to “set the record straight.”

“Josh was a boy, a young boy in puberty and a little too curious about girls,” says Jessa. “And that got him into some trouble. And he made some bad choices, but, really, the extent of it was mild – inappropriate touching on fully clothed victims, most of it while [the] girls were sleeping.”

Jill, 24, adds that they “didn’t even know” about the molestation until Josh had confessed to their parents. “None of the victims were aware of what happened until Joshua confessed,” Jessa agrees, adding, “My parents took [us] aside individually, and they said, ‘Here’s what happened,’ and of course at this point, you’re shocked.”

Read the full transcript at People

This article originally appeared on People.com.

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