Rachel Stevens has responded to those who criticised her for leaving her daughters alone in the car.
The former S Club 7 singer, 37, said her girls were "her life" and she found it hard to read the comments slating her parenting skills.
"Parenting is always going to split judgement and you never have all the answers," she told Essentials magazine. "I would never do anything to intentionally harm my girls."
The mum to Amelia, four, and Minnie Blossom, one, faced critisim on social media in September 2015 when she was pictured leaving her daughters alone in her car while she popped out to run errands.
Stevens added: "Whatever you do as a parent, you will be judged by other people.
"You can only do your best."
Stevens said she had previously put pressure on herself to be the "perfect parent", but has learned to stop self-criticising.
When the photos emerged of Stevens leaving her daughters alone in the car first emerged, parents took to social media to publicly condemn her decision.
At the time, Supernanny's Jo Frost also waded in on the debate, but disproved of the public shaming.
"I'm sure @MsRachelStevens is now aware that her parenting choice was not a smart one but truly so fed up with celebs being publicly shamed," she wrote.
After Frost tweeted, other mums and dads agreed with her and admitted to being part of the "public parenting police".
One mother tweeted: "I'm sure we've all done it, there's a lot worse she could have done, leave her alone."
"People are demanding that Rachel Stevens be jailed for leaving her kids in a locked car for 10 mins. My Dad did this all the time," tweeted another.
On the Government's website it states: "The law doesn’t say an age when you can leave a child on their own, but it’s an offence to leave a child alone if it places them at risk.
"Use your judgement on how mature your child is before you decide to leave them alone, e.g at home or in a car."
SEE ALSO:
Rachel Stevens Leaves Kids Alone In Car While Running Errands, Parents Come To Her Defence
'First Aid Rapped Up' Child Safety Campaign Launched By British Red Cross Featuring Rapping Babies
Style File: Rachel Stevens
Rachel Stevens(01 of49)
British singer Rachel Stevens arrives for the Elle Style Awards at a central London venue, Monday, Feb. 11, 2013, in London. (Photo by Jonathan Short/Invision/AP) (credit:AP)
Elle Style Awards - Inside Arrivals(02 of49)
LONDON, ENGLAND - FEBRUARY 11: Rachel Stevens attends the Elle Style Awards at The Savoy Hotel on February 11, 2013 in London, England. (Photo by Gareth Cattermole/Getty Images) (credit:Getty Images)
Elle Style Awards - Inside Arrivals(03 of49)
LONDON, ENGLAND - FEBRUARY 11: Rachel Stevens attends the Elle Style Awards at The Savoy Hotel on February 11, 2013 in London, England. (Photo by Gareth Cattermole/Getty Images) (credit:Getty Images)
British Fashion Awards 2012 - Inside Arrivals(04 of49)
LONDON, ENGLAND - NOVEMBER 27: Rachel Stevens attends the British Fashion Awards 2012 at The Savoy Hotel on November 27, 2012 in London, England. (Photo by Ian Gavan/Getty Images) (credit:Getty Images)
British Fashion Awards 2012 - Inside Arrivals(05 of49)
LONDON, ENGLAND - NOVEMBER 27: Rachel Stevens attends the British Fashion Awards 2012 at The Savoy Hotel on November 27, 2012 in London, England. (Photo by Ian Gavan/Getty Images) (credit:Getty Images)
British Fashion Awards 2012 - Inside Arrivals(06 of49)
LONDON, ENGLAND - NOVEMBER 27: Rachel Stevens attends the British Fashion Awards 2012 at The Savoy Hotel on November 27, 2012 in London, England. (Photo by Ian Gavan/Getty Images) (credit:Getty Images)
Pink Zumbathon Party Hosted By Wyclef Jean(07 of49)
LONDON, ENGLAND - OCTOBER 16: Rachel Stevens attends Pink Zumbathon Party in aid of Breakthrough Breast Cancer at Alexandra Palace on October 16, 2011 in London, England. (Photo by Ben Pruchnie/Getty Images) (credit:Getty Images)
Pink Zumbathon Party Hosted By Wyclef Jean(08 of49)
LONDON, ENGLAND - OCTOBER 16: Rachel Stevens (L) and Amy Childs attend Pink Zumbathon Party in aid of Breakthrough Breast Cancer at Alexandra Palace on October 16, 2011 in London, England. (Photo by Ben Pruchnie/Getty Images) (credit:Getty Images)
Pink Zumbathon Party Hosted By Wyclef Jean(09 of49)
LONDON, ENGLAND - OCTOBER 16: Rachel Stevens attends Pink Zumbathon Party in aid of Breakthrough Breast Cancer at Alexandra Palace on October 16, 2011 in London, England. (Photo by Ben Pruchnie/Getty Images) (credit:Getty Images)
The Launch Of House Of Dereon By Beyonce And Tina Knowles(10 of49)
LONDON, ENGLAND - SEPTEMBER 17: Rachel Stevens at The Launch Of House Of Dereon By Beyonce And Tina Knowles at Selfridges on September 17, 2011 in London, England. (Photo by Eamonn McCormack/Getty Images) (credit:Getty Images)
The Launch Of House Of Dereon By Beyonce And Tina Knowles(11 of49)
LONDON, ENGLAND - SEPTEMBER 17: Rachel Stevens at The Launch Of House Of Dereon By Beyonce And Tina Knowles at Selfridges on September 17, 2011 in London, England. (Photo by Eamonn McCormack/Getty Images) (credit:Getty Images)
The Launch Of House Of Dereon By Beyonce And Tina Knowles(12 of49)
LONDON, ENGLAND - SEPTEMBER 17: Rachel Stevens at The Launch Of House Of Dereon By Beyonce And Tina Knowles at Selfridges on September 17, 2011 in London, England. (Photo by Eamonn McCormack/Getty Images) (credit:Getty Images)
The Launch Of House Of Dereon By Beyonce And Tina Knowles(13 of49)
LONDON, ENGLAND - SEPTEMBER 17: Rachel Stevens and Husband Alex Bourne at The Launch Of House Of Dereon By Beyonce And Tina Knowles at Selfridges on September 17, 2011 in London, England. (Photo by Eamonn McCormack/Getty Images) (credit:Getty Images)
Rimmel Hosts Party For Original London Girl Kate Moss To Celebrate Their 10 Year Partnership - Arrivals(14 of49)
LONDON, ENGLAND - SEPTEMBER 15: Rachel Stevens attends the Rimmel & Kate Moss Party to celebrate their 10 year partnership at Battersea Power station on September 15, 2011 in London, England. On the eve of London Fashion Week, Rimmel launches the 'Kate Moss Lasting Finish Lipstick Collection' designed by the supermodel herself to celebrate her 10 year collaboration with the brand. (Photo by Dave M. Benett/Getty Images for Rimmel) (credit:Getty Images)
Rimmel Hosts Party For Original London Girl Kate Moss To Celebrate Their 10 Year Partnership - Arrivals(15 of49)
LONDON, ENGLAND - SEPTEMBER 15: Rachel Stevens attends the Rimmel & Kate Moss Party to celebrate their 10 year partnership at Battersea Power station on September 15, 2011 in London, England. On the eve of London Fashion Week, Rimmel launches the 'Kate Moss Lasting Finish Lipstick Collection' designed by the supermodel herself to celebrate her 10 year collaboration with the brand. (Photo by Dave M. Benett/Getty Images for Rimmel) (credit:Getty Images)
Glamour Women Of The Year Awards(16 of49)
LONDON, UNITED KINGDOM - JUNE 07: Rachel Stevens attends Glamour Women Of The Year Awards at Berkeley Square Gardens on June 7, 2011 in London, England. (Photo by Stuart Wilson/Getty Images) (credit:Getty Images)
Glamour Women Of The Year Awards(17 of49)
LONDON, UNITED KINGDOM - JUNE 07: Rachel Stevens attends Glamour Women Of The Year Awards at Berkeley Square Gardens on June 7, 2011 in London, England. (Photo by Stuart Wilson/Getty Images) (credit:Getty Images)
British singer Rachel Stevens (L) poses(18 of49)
British singer Rachel Stevens (L) poses with fans as she arrives for the British Premiere of the film 'Kung Fu Panda 2' in Central London on June 5, 2011. AFP PHOTO/ MAX NASH (Photo credit should read MAX NASH/AFP/Getty Images) (credit:Getty Images)
Kung Fu Panda 2 - UK Film Premiere - Inside Arrivals(19 of49)
LONDON, ENGLAND - JUNE 05: (UK TABLOID NEWSPAPERS OUT) Rachel Stevens attends the UK premiere of Kung Fu Panda 2 at the Vue Westfield on June 5, 2011 in London, England. (Photo by Fergus McDonald/Getty Images) (credit:Getty Images)
Orange British Academy Film Awards - Outside Arrivals(20 of49)
LONDON, ENGLAND - FEBRUARY 13: Singer Rachel Stevens attends the 2011 Orange British Academy Film Awards at The Royal Opera House on February 13, 2011 in London, England. (Photo by Ian Gavan/Getty Images) (credit:Getty Images)
Orange British Academy Film Awards - Outside Arrivals(21 of49)
LONDON, ENGLAND - FEBRUARY 13: Singer Rachel Stevens attends the 2011 Orange British Academy Film Awards at The Royal Opera House on February 13, 2011 in London, England. (Photo by Ian Gavan/Getty Images) (credit:Getty Images)
Orange British Academy Film Awards - Outside Arrivals(22 of49)
LONDON, ENGLAND - FEBRUARY 13: Singer Rachel Stevens attends the 2011 Orange British Academy Film Awards at The Royal Opera House on February 13, 2011 in London, England. (Photo by Ian Gavan/Getty Images) (credit:Getty Images)
Soho House Grey Goose After Party - Afterparty(23 of49)
LONDON, ENGLAND - FEBRUARY 13: (EXCLUSIVE COVERAGE) Alex Bourne and Rachel Stevens attend the Soho House Grey Goose After Party at Grovesnor House Hotel on February 13, 2011 in London, England. (Photo by Chris Jackson/Getty Images for Grey Goose Vodka) (credit:Getty Images)
Celebrities On The Front Row: Day Five - LFW Spring/Summer 2011(24 of49)
LONDON, ENGLAND - SEPTEMBER 21: Rachel Stevens attends the Jeager Spring/Summer 2011 fashion show at Somerset House as part of London Fashion Week on September 21, 2010 in London, England. (Photo by Ian Gavan/Getty Images) (credit:Getty Images)
Celebrities On The Front Row: Day Five - LFW Spring/Summer 2011(25 of49)
LONDON, ENGLAND - SEPTEMBER 21: Rachel Stevens attends the Jeager Spring/Summer 2011 fashion show at Somerset House as part of London Fashion Week on September 21, 2010 in London, England. (Photo by Ian Gavan/Getty Images) (credit:Getty Images)
Celebrities On The Front Row: Day Three - LFW Spring/Summer 2011(26 of49)
LONDON - SEPTEMBER 19: Rachel Stevens attends the Julien Macdonald s/s 2011 fashion show during London Fashion Week on September 19, 2010 in London, England. (Photo by Samir Hussein/Getty Images) (credit:Getty Images)
Graduate Fashion Week 2010 - Gala Show(27 of49)
LONDON, UNITED KINGDOM - JUNE 09: Rachel Stevens attends the Graduate Fashion Week Gala Show at Earls Court on June 9, 2010 in London, England. (Photo by Stuart Wilson/Getty Images) (credit:Getty Images)
Graduate Fashion Week 2010 - Gala Show(28 of49)
LONDON, UNITED KINGDOM - JUNE 09: Rachel Stevens attends the Graduate Fashion Week Gala Show at Earls Court on June 9, 2010 in London, England. (Photo by Stuart Wilson/Getty Images) (credit:Getty Images)
Graduate Fashion Week 2010 - Gala Show(29 of49)
LONDON, UNITED KINGDOM - JUNE 09: Rachel Stevens attends the Graduate Fashion Week Gala Show at Earls Court on June 9, 2010 in London, England. (Photo by Stuart Wilson/Getty Images) (credit:Getty Images)
Glamour Women Of The Year Awards - Arrivals(30 of49)
LONDON, ENGLAND - JUNE 08: Rachel Stevens arrives at the 2010 Glamour Women of The Year Awards on June 8, 2010 in London, England. (Photo by Gareth Cattermole/Getty Images) (credit:Getty Images)
Sex And The City 2 - UK Premiere - Red Carpet Arrivals(31 of49)
LONDON, ENGLAND - MAY 27: Rachel Stevens attends the UK premiere of Sex And The City 2 at Odeon Leicester Square on May 27, 2010 in London, England. (Photo by Gareth Cattermole/Getty Images) (credit:Getty Images)
An Audience With Michael Buble - Red Carpet Arrivals(32 of49)
LONDON, ENGLAND - MAY 03: Rachel Stevens attends an Audience With Michael Buble at the London ITV Studios on May 3, 2010 in London, England. (Photo by Danny Martindale/Getty Images) (credit:Getty Images)
An Audience With Michael Buble - Red Carpet Arrivals(33 of49)
LONDON, ENGLAND - MAY 03: Rachel Stevens attends an Audience With Michael Buble at the London ITV Studios on May 3, 2010 in London, England. (Photo by Danny Martindale/Getty Images) (credit:Getty Images)
Celebrity Front Row Day 4 - LFW Autumn/Winter 2010(34 of49)
LONDON, UNITED KINGDOM - FEBRUARY 22: Rachel Stevens attends the Jaeger catwalk show during London Fashion Week on February 22, 2010 in London, England. (Photo by Stuart Wilson/Getty Images) (credit:Getty Images)
Celebrity Front Row Day 4 - LFW Autumn/Winter 2010(35 of49)
LONDON, UNITED KINGDOM - FEBRUARY 22: Rachel Stevens attends the Jaeger catwalk show during London Fashion Week on February 22, 2010 in London, England. (Photo by Stuart Wilson/Getty Images) (credit:Getty Images)
South Bank Show Awards - Arrivals(36 of49)
LONDON, ENGLAND - JANUARY 26: Rachel Stevens attends The South Bank Show Awards at the Dorchester on January 26, 2010 in London, England. (Photo by Ian Gavan/Getty Images) (credit:Getty Images)
GQ Men Of The Year Awards - Red Carpet Arrivals(37 of49)
LONDON, ENGLAND - SEPTEMBER 08: Rachel Stevens arrives for the 2009 GQ Men Of The Year Awards at The Royal Opera House on September 8, 2009 in London, England. (Photo by Chris Jackson/Getty Images) (credit:Getty Images)
GQ Men Of The Year Awards - Red Carpet Arrivals(38 of49)
LONDON, ENGLAND - SEPTEMBER 08: Rachel Stevens arrives for the 2009 GQ Men Of The Year Awards at The Royal Opera House on September 8, 2009 in London, England. (Photo by Chris Jackson/Getty Images) (credit:Getty Images)
GQ Men Of The Year Awards - Red Carpet Arrivals(39 of49)
LONDON, ENGLAND - SEPTEMBER 08: Rachel Stevens arrives for the 2009 GQ Men Of The Year Awards at The Royal Opera House on September 8, 2009 in London, England. (Photo by Chris Jackson/Getty Images) (credit:Getty Images)
British pop star Rachel Stevens poses fo(40 of49)
British pop star Rachel Stevens poses for photographs at a Gala dinner in Hampton Court, west of London, on June 6, 2009. Pop star Rachel Stevens was robbed of jewellery by three muggers who followed her home, it emerged on Wednesday. The three men ambushed the former S Club 7 singer yesterday afternoon as she entered her flat in north London, making her hand over several items. The haul reportedly included an engagement ring, a necklace and a Rolex watch. AFP PHOTO/Max Nash (Photo credit should read MAX NASH/AFP/Getty Images) (credit:Getty Images)
Glamour Women of the Year Awards 2009 - Outside Arrivals(41 of49)
LONDON, ENGLAND - JUNE 02: Rachel Stevens arrives at the Glamour Women of the Year Awards 2009 at Berkeley Square Gardens on June 2, 2009 in London, England. (Photo by Gareth Cattermole/Getty Images) (credit:Getty Images)
Glamour Women of the Year Awards 2009 - Outside Arrivals(42 of49)
LONDON, ENGLAND - JUNE 02: Rachel Stevens arrives at the Glamour Women of the Year Awards 2009 at Berkeley Square Gardens on June 2, 2009 in London, England. (Photo by Gareth Cattermole/Getty Images) (credit:Getty Images)
The Caudwell Children Butterfly Ball(43 of49)
LONDON, UNITED KINGDOM - MAY 14: Rachel Stevens arrives for The Caudwell Children Butterfly Ball at Battersea Evolution on May 14, 2009 in London, England. (Photo by Frantzesco Kangaris/Getty Images) (credit:Getty Images)
The Caudwell Children Butterfly Ball(44 of49)
LONDON, UNITED KINGDOM - MAY 14: Rachel Stevens arrives for The Caudwell Children Butterfly Ball at Battersea Evolution on May 14, 2009 in London, England. (Photo by Frantzesco Kangaris/Getty Images) (credit:Getty Images)
Strictly Come Dancing Live! - Photocall(45 of49)
MANCHESTER, ENGLAND - JANUARY 21: Rachel Stevens and her dance partner Vincent Simone pose during the BBC Strictly Come Dancing Live Tour 2009 photocall at the Manchester Evening News Arena on January 21, 2009 in Manchester, England. (Photo by Lindsey Parnaby/Getty Images) (credit:Getty Images)
Strictly Come Dancing Live! - Photocall(46 of49)
MANCHESTER, ENGLAND - JANUARY 21: Rachel Stevens and her dance partner Vincent Simone pose during the BBC Strictly Come Dancing Live Tour 2009 photocall at the Manchester Evening News Arena on January 21, 2009 in Manchester, England. (Photo by Lindsey Parnaby/Getty Images) (credit:Getty Images)
Strictly Come Dancing Live! - Photocall(47 of49)
MANCHESTER, ENGLAND - JANUARY 21: Rachel Stevens poses during the BBC Strictly Come Dancing Live Tour 2009 photocall at the Manchester Evening News Arena on January 21, 2009 in Manchester, England. (Photo by Lindsey Parnaby/Getty Images) (credit:Getty Images)
South Bank Show Awards - Media Room(48 of49)
LONDON - JANUARY 20: Rachel Stevens poses in the media room at the South Bank Show Awards at the Dorchester Hotel on January 20, 2009 in London, England. (Photo by Dan Kitwood/Getty Images) (credit:Getty Images)
South Bank Show Awards - Media Room(49 of49)
LONDON - JANUARY 20: Rachel Stevens poses in the media room at the South Bank Show Awards at the Dorchester Hotel on January 20, 2009 in London, England. (Photo by Dan Kitwood/Getty Images) (credit:Getty Images)