The South African former Paralympian athlete, who is awaiting a jail sentence for murdering Steenkamp in 2013, told British broadcaster ITV that he did not kill his partner intentionally.
"I don't want to go back to jail. I don't want to have to waste my life sitting there," he said in footage released ahead of his first television interview, which will be screened tomorrow.
"If I was afforded the opportunity of redemption, I would like to help the less fortunate," he said. "I would like to believe that if Reeva could look down upon me that she would want me to live that life."
He was found guilty of murder in March, after spending a year behind bars on his earlier conviction of the lesser crime of culpable homicide - the equivalent of manslaughter.
The Supreme Court of Appeal ruled that Pistorius was guilty of murder, irrespective of who was behind the door when he opened fire with a high-calibre pistol he kept under his bed.
Last week, Pistorius was criticised by prosecution lawyers for apparently being too ill and depressed to face cross-examination at his sentencing hearing yet able to give the TV interview.
In quotes taken from the ITV transcript, he relived the night of the killing, saying "I did take Reeva's life and I have to live with that."
"I can smell the blood. I can feel the warmness of it on my hands. I understand the pain people feel, that loved her and miss her. I feel that same pain. I feel that same hate for myself.
Saying he believed an intruder was in the house and seconds from their bedroom, Pistorius said an "instant fear" drove him to grab his gun and walk towards the bathroom.
"All of a sudden I hear a noise, at the toilet. I presumed it was the toilet door opening and before I knew it I'd fired four shots.
"I opened the toilet door and immediately when I saw Reeva she was over the toilet. I knew that she was dead. And I went down on my knees and pulled her onto me."
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