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Ramapo police applauded a plea agreement Taylor entered into with prosecutors at the time.
"This department believes that the resolution reached in this case is fair and appropriate," Ramapo Police Chief Peter Brower said at the time.
"Mr. Taylor wants to publicly apologize to his wife and family and fans," said his attorney Arthur Aidala. "Mr. Taylor accepts responsibility for what he did and he did intend to patronize a prostitute. He did not intend to patronize an underage person."
Aidala added that Taylor was "deceived."
In July, Taylor's wife vehemently denied that the famous linebacker had sex with the underage prostitute.
"He didn't rape anyone. He didn't have sex with anyone. He didn't call a pimp," Lynette Taylor said on "Larry King Live."
Lynette Taylor told King that the girl snuck into her husband's hotel room because many people knew Taylor was in town for an autograph signing.
Taylor gave her $300 because she was going through bad times, Lynette Taylor said.
"So I mean for him, $300, here -- here is $300. Will this help you out any? It was very much that," said Lynette Taylor. "Yes, he should have told her to get the heck out of my room. But I cannot explain why men do what they do."