Conrad Murray claims he "held Michael Jackson's penis every night".
The disgraced physician - who left jail in October after serving two years of a four-year sentence for the involuntary manslaughter of the King of Pop in 2009 - claims the late star was incontinent at night and he had to fit a catheter before he went to bed.
He said: "He wore dark trousers all the time because after he went to the toilet he would drip for hours.
'You want to know how close Michael and I were? I held his penis every night. I had to put a condom catheter on him because Michael dripped urine. He had a loss of sensation and was incontinent.
"Michael didn't know how to put a condom on, so I had to do it for him."
Murray claimed he and the 'Thriller' star were so close, the singer confided that none of his three children - Prince Michael, 16, and Paris, 15, whose mother was Michael's ex-wife Debbie Rowe, and 12-year-old Blanket, whose mum is unknown - were biologically his.
He told the Mail on Sunday newspaper: "Michael told me he never slept with Debbie Rowe. We joked that neither of us would want to have sex with her.
"He chose friends or business colleagues to help him. He told me he wanted to sever any genetic link to his family."
Asked about actor Mark Lester's claims that he fathered at least one of the children, he added: "I will not talk about this. If the children want to know, I will tell them.
"There are some secrets I will take to my grave."