• This is a rush transcript from "On the Record," May 29, 2014. This copy may not be in its final form and may be updated.

    GRETA VAN SUSTEREN, FOX NEWS HOST: Our interview with the U.S. Marine jailed in Mexico only right here ON THE RECORD.

    (BEGIN VIDEO CLIP)

    SGT. ANDREW TAHMOORESSI, U.S. MARINE HELD IN MEXICO PRISON: I made one turn out of the parking lot but it looped around and took me back south of Mexico.

    The Mexican checkpoint, I told them, I said I have all my stuff back here plus I have three guns. I told them, I said, hey, take everything you want, please let me go back to America.

    I was punched in the stomach a few times to the point where I couldn't breathe. I was gasping for air. I was struck in the face a bunch of times with an open palm.

    VAN SUSTEREN: Who was hitting you?

    TAHMOORESSI: It was done by guards.

    I didn't mean to be in Mexico. It was an accident.

    (END VIDEO CLIP)

    VAN SUSTEREN: U.S. Marine Sergeant Andrew Tahmooressi calls it an accident, a big accident. So how did a wrong turn at the border land him in a Mexican prison? The Marine tells us exactly what happened on that fateful night.

    (BEGIN VIDEOTAPE)

    VAN SUSTEREN: Take me back to March 31st. And let's start. What time did you arrive in the Tijuana area?

    TAHMOORESSI: March 31st, I arrived sometime in the early afternoon. Probably, maybe around noon or 1:00.

    VAN SUSTEREN: And what did you do? What was the plan for the day and what did you do?

    TAHMOORESSI: Well, I crossed over the border and I seen this big arch there. So I said, well, there's probably some -- something to do where this big arch is. It looks like the -- you know, the arch in St. Louis, Missouri? And I went around, walked around, looked at the shops. I checked in a hotel over there because I was thinking to stay the night. And I ate at a restaurant. I walked around little more and kind of explored a little bit. And I checked out of the hotel because that hotel wasn't very nice. It was dark and gloomy and dirty. So I was like, oh, forget this. And I didn't really like what I seen in Tijuana that much anyway with all the authorities and things. I didn't feel very safe or comfortable there. So I decided to head back to the United States.

    And I got in my truck and around maybe like 10: 0 at night, made a wrong turn that took me into Mexico.

    VAN SUSTEREN: All right. Now, and I have been down there. I've saw where you walk across the border and returned. When you came back at 10:00 at night, I take it, it was dark, am I right? It's 10:00 at night?

    TAHMOORESSI: Yes.

    VAN SUSTEREN: Have you ever parked in that parking lot before?

    TAHMOORESSI: Yeah, I parked one time in the parking lot before but it was late at night. I was with a friend, and he was driving, and when we were coming back, I had been drinking, so I wasn't -- I didn't have all my senses there.

    VAN SUSTEREN: So you pulled out of the parking lot and you crossed one lane of traffic until you turned left on the road and then you turned left again right away, is that right?

    TAHMOORESSI: Yes. I made one left-hand turn out of the parking lot across the lane of traffic and made another left into -- on to that on-ramp that that I thought went north to San Diego but it looped around and took me south of Mexico.

    VAN SUSTEREN: Am I correct that that ramp was to your left as you noted, and San Diego was likewise to your left?

    TAHMOORESSI: Yes. That's correct.

    VAN SUSTEREN: And so then you swoop around, down beneath the ramp, and then you are at the Mexican checkpoint, is that right?

    TAHMOORESSI: Yes. That's right.

    VAN SUSTEREN: Had you ever driven that before?

    TAHMOORESSI: No. I had never driven that part onto the on-ramp. I had driven the straight part that goes into Mexico. But I had never driven on that on-ramp before.

    VAN SUSTEREN: What happened when you approached the Mexican check point?

    TAHMOORESSI: Well, OK, I get to the Mexican check point where there is a gate. I get a green light but I waved to the lady two lanes sitting to my left who is an officer, and I waved to her to tell her, hey, I don't want to be in Mexico. But she waived to me like come on, let's go, let's go. I was like, OK, I will go. Then there was three officers standing by an inspection table to waive me in. So I go ahead and I drive. I'm just obeying orders at this point. And I park my truck and I get out, and they ask me, what is all this stuff you have back here? Because I had all my possessions in my truck, minus my motorcycle that I left at my friend's house in Ocean Beach. I said, you will I have all my stuff back here, plus I have three guns. But I didn't mean to be in Mexico, it was an accident and there was no place to do a U-turn. He says, OK, show me where the guns are. So we walk around the back of the truck and I point to the door. I said I have two guns in here and one is in the front seat. I point them out. He sees the guns. He puts them back inside the truck, just the two in the rear. And he tells me that he is going to get an escort vehicle for me to take me back to the American border. So I'm like, OK, that will be good. Thank you. Then the Mexican border police officer then drives my truck into a different parking area and I walk to my truck. And then they take all my guns out and put them on the tailgate of my truck with all the ammunition that I pointed out and put them in the back of my truck. And then they get on a walkie-talkie and tell the word up through their higher, and an officer, a military officer comes with two bars on -- two silver bars on the collar. He comes and then he took charge from there. Didn't really seem to care about the story at all but just found me guilty from the beginning of a crime. They didn't have a translator there either. They had a woman who barely spoke English translating. They were threatening to take my guns, take my truck and take all my possessions. I told them I said, hey, take everything you want, just please let me go back to America. They put me under arrest and that was pretty much it.

    VAN SUSTEREN: What was your behavior like? Were you respectful or did you get angry with them? What was your demeanor?

    TAHMOORESSI: In the beginning, I was respectful. I was tired. I was annoyed. I got annoyed a little bit. I did not like his demeanor, you know, very much. I was frustrated a little bit, annoyed and tired, a little bit cranky, you could say. I was respectful the whole time.

    VAN SUSTEREN: Did you mouth off to them at all?

    TAHMOORESSI: Oh, no, no. I never mouthed of at all.

    VAN SUSTEREN: At what point did you make the 911 call? Was that before the military officer arrived or after?

    TAHMOORESSI: That was after the military officer arrived.

    VAN SUSTEREN: And then, was he there when you made the phone call?

    TAHMOORESSI: Yes, he was. They were trying to get me off the cell phone but I wouldn't allow it. I felt like I was in danger. I didn't like -- I didn't -- the people -- it didn't seem very good. The demeanor of the people and the -- I guess you could say like the energy there, they were giving off, their demeanor was very fishy to me. So I didn't feel very safe --