Michael Phelps opens up to Matt Lauer in an exclusive, candid interview about his family, DUI, rehab stay and the road to Rio. Phelps, who recently became a father, talks to Lauer about the challenges in his home growing up after his parents divorced:"I was a kid that always wanted a family. You know, whether we're, whether our parents are together or not, I still wanted a mom and dad. And I never had that for so long." He said one of the biggest obstacles he has overcome was the feeling of being abandoned by his father.