According to the New York Daily News, she later elaborated on the alleged abuse and wrote, "It started when I was 14. Wasn't a one-time deal."
"I'm being accused of inappropriately touching her, Nicole Eggert, when she was a minor. And having sex with her when she was a minor. That's what I'm being accused of," Baio said in a Facebook Live video posted Saturday.
>> Watch his response here (WARNING: Viewer discretion advised.)
He said the pair did have sex, but it was consensual and happened after the show stopped shooting, when she was of age.
"I remember her calling me and asking me to come over and coming in my house one time and seducing me," Baio said to the camera.
“Any normal heterosexual, red-blooded American guy, the outcome would have been the same.”
Baio defended his behavior on the set of “Charles in Charge,” a show that ran from 1984 to 1990.
“When you have minors on the set, when they are not on the set working, they are in the classroom with the teacher, the teacher brings them to the set, and on the set is their parents, their teachers,” he said.
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Eggert has made similar claims against Baio in the past, but he said he usually ignores them and they go away. This claim, he said, has gained steam, prompting his video response, which he said he filmed so that he could not be edited.
"If you have a real claim, you go to the real people, not to social media where people like me get beat up," he added.
Baio has been in the headlines during the last few years for his support of President Donald Trump.