The 60-year-old actor - who starred in 'Breaking Bad' as Walter White - has opened up about the experience in his new memoir 'A Life in Parts'.
He wrote: "In the room, she indicated I should take off my clothes. This was happening. There'd been no fireworks. No tenderness. No talking. We never exchanged names. I'd had no idea what I was doing. It was just this stranger and me at the particular moment in time. As uncomplicated as it should be."
The 'Power Rangers' star also admitted he once dreamed about killing a former girlfriend, Ava, who had been stalking him.
He wrote that he dreamed about slamming "her head against the wall with a metronomic consistency. Clumps of hair and bits of skin and brain matter stuck to the brick.
"I remained calm. I was released from fear and anger. I wasn't glad or relieved or filled with satisfaction. I felt nothing. I let go of her and the body slid to the floor."
However, there are some happier stories and he opened up about his proposal to his wife Robin Dearden.
Explaining that they decided to take a bath together, he shared: "I had the ring. But then, I had to hide it. But I had to put it within reach, I couldn't jump out of the bathtub mid-proposal, sopping wet and stark naked, to go searching for the ring. The only thing I could think to do was put it on a digit. I decided on my baby toe."