Brad Pitt, Robin Givens.Photo: Astrid Stawiarz/Getty Images; John Phillips/Getty Images

Brad Pitt, Robin Givens

Robin Givensis setting the record straight on her rumored affair withBrad Pitt.

In his memoirUndisputed Truth, Tyson, 52, alleged that he once drove to Givens’ house and saw her in a car with Pitt in the driveway after they had split.

Tyson also claimed he caught Givens and Pitt in bed together while they were still married.

“Pulling up in the driveway, that part is true,” Givens said. “I didn’t read the book, but I was told he says he caught us in bed, which never happened. Never, ever, ever happened.”

When asked to elaborate on why she and Pitt were in the car together, Givens said, “We were coming from like a screening or something.”

Pitt had guest-starred on her showHead of the Classin the late 1980s.

HostAndy Cohenwent on to question another claim Tyson made — that he startled Pitt when he approached them in the driveway.

Cohen, 51, explained Tyson alleged that Pitt said, “Don’t hit me, don’t hit me.”

“No,” Givens said, adding, “Does that sound like Brad?”

“I mean, Brad’s got some swag, you know what I mean?” Givens said.

A rep for Pitt did not immediately respond to PEOPLE’s request for comment.

Givens and Tyson were married in 1988 and divorced in 1989.

Cohen later read another fan’s question for Givensabout her romancewithHoward Stern.

Brad Pitt, Robin Givens.Vinnie Zuffante/Archive Photos/Getty Images

Brad Pitt and Robin Givens

“Oh my God this is like a walk down memory lane. I wish I was getting this much action now, Andy!” Givens said before opening up about Stern.

“Howard Stern was a magnificent lover,” Givens said proudly. “Like unbelievable.”

Gives then admitted that the two dated for a “little while.”

As for his size, Givens coyly said, “It was all good.”

source: people.com