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PEOPLE has an exclusive excerpt of Lionel Richie's new memoir Truly , out Sept. 30

In Truly the Grammy winner and American Idol judge opens up about his iconic career, experiences with racism and colorism as well as his relationship struggles

The star reveals that after years in Hollywood he began to distrust love and those who said "I love you"

At a certain point while writing his new memoir, Lionel Richie began to feel overwhelmed.

“To be honest, I don’t know how I remembered a lot of stuff,” Richie tells PEOPLE for a story in this week's print issue. “And then there were moments when I wanted to forget things — and that’s the painful part.”

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