Robert is currently fighting with his ex, Ashley, over custody of their 6-year-old daughter.

The child had been living with Robert in Michigan from ages 1-5, and it was during that time a woman approached Ashley with allegations that Robert and his girlfriend, Kim, had been “abusing” the little girl.

WATCH: Why Mom Claims Ex-Boyfriend ‘Kidnapped’ Their Daughter And Kept Her For Five Years

Mary (who is grandmother to Kim’s son) alleged that Robert and Kim, at times, punished the child by “making her do squats” and “forcing her to drink vinegar.”

“Not squats. We call them ‘ups-and-downs’ at home,” Robert explains to Dr. Phil. “You get down on your knees and go up and down for lying ... for like two or three minutes.”

“Has she had to drink vinegar?” Dr. Phil asks.

“A teaspoon of apple cider vinegar,” Robert says. “Because she lies, she wants to talk back.”

WATCH: Meet The Stranger Who Helped A Mom Regain Custody Of Her Daughter

Watch the video above as Robert explains his parenting of his daughter. 

This episode of Dr. Phil airs Wednesday. Watch more here.