Arnold Schwarzenegger has a ''wonderful'' relationship with his ex-wife.

The 67-year-old Hollywood star - who married his estranged wife, journalist Maria Shriver, in 1986 - has revealed that despite their high-profile split, they have retained a good relationship, in part for the benefit of their children, Katherine, 25, Christina, 23, Patrick, 21, and 17-year-old Christopher.

Arnold - whose marriage ended in 2011 after he confessed that he had fathered a son, Joseph, now 17, with their housekeeper Mildred Baena - said: ''We both behaved like grown-ups and said maybe we have disagreed on some things and I screwed up on some things, but let's raise the kids together and show harmony so I can go to her house and we celebrate and she can come over to my house and celebrate if it's Mother's Day or birthdays or Christmas or whatever.

''Now I have a wonderful relationship with Maria. There are no fights. We talk all the time on the phone.

''We are responsible parents and we know the only way it works is if we work together and that is going really well.''

Meanwhile, Arnold said he makes a conscious effort to learn from his mistakes.

He told the Daily Mirror newspaper: ''I've learned to be positive; and to get up and make sure that you undo as much of the damage that you can and that you think twice before you make mistakes. And think about what effect they have on other people.

''Everyone has their setbacks and everyone had times when they fell.

''What I did all the time is just get up and not whine about it.''