Keith Richards' memoir of his life and the life of the Rolling Stones revealed some things about the band and Mick Jagger that the frontman didn't care for. In a recent interview Jagger calls an apology from Richards a "prerequisite," while Richards shares he doesn't regret a thing.

'Life' was published in 2010, and Richards famously insinuated that Jagger has a small penis amongst other things. The two got together afterward and worked out their differences, for the good of the band.

"Well, I think it was a good thing he got together with me and said that," Jagger tells Rolling Stone. "You have to put those things to one side; you can't leave them unspoken."

Richards confirms the apology happened, but says he doesn't regret a thing he included in the thick tome. "I wouldn't retract a thing, man," he tells the magazine.

The two men's relationship is broken down throughout the article, and one draws the conclusion that it's mostly a working relationship, with strong personal feelings -- mostly positive -- bubbling beneath. Richards isn't shy to admit his admiration for Jagger as a performer and bandmate.

"There's moments when you realize, 'God, man, I love you, baby.' That can happen onstage a lot. I watch Mick and I'm still astounded. I have to watch out that I don't become the audience from behind, because when he pours it on, he still amazes me. That's another reason I love to do this."

Jagger isn't as gushy in this article, and he refutes the characterization of their relationship as a brotherhood.

"People always say things like that," Jagger says. "But I have a brother [Chris Jagger], you know? My relationship with my brother is a brotherly relationship, and it's nothing at all like my relationship with Keith."

The full interview -- including perspective from drummer Charlie Watts -- is in the current issue of Rolling Stone. The band is currently on their 50 and Counting Tour in the United States.