Prosecutors dropped misdemeanor charges against the 54-year-old this week. As part of the deal, he's required to take an eight-hour class on sex trafficking and pay $500 court fees.
In the new interview, Mauer says he had left the hotel room after just a few minutes, that he changed his mind and did not have sex with or pay the prostitute. Still, he admits he went there with that intention.
"I made a bad decision and I will have to live with it for the rest of my life," Mauer said.
Mauer resigned not long after the sting, after his first year of coaching.
Mauer, of Woodbury, the cousin of Twins catcher Joe Mauer, was among 19 cited in the two-day sting in Fridley.