Andrews, who represents the riding of Avalon, addressed the independent investigation into his conduct, as well as his political future, while speaking with reporters.
"The past five months have been very difficult for my family," Andrews said.
Andrews did not deny any wrongdoing, and said it would be up to his friends and family to determine if he was at fault.
However, Andrews said he has learned that he needs to respect personal boundaries.
"I have learned a lot about myself through the past few months, and particularly how my jovial Newfoundland friendliness can be received," Andrews told reporters.
"I have learned a great deal on the importance of personal space, diversity and the importance of the feelings of others."
Andrews said he was content with the independent report, the contents of which have not been released publicly.
Andrews and fellow MP Massimo Pacetti, who were initially suspended from the Liberal caucus last fall, have now been permanently removed after Liberal Leader Justin Trudeau received the results of an independent investigation he commissioned from Toronto lawyer Cynthia Petersen.
Petersen, a human rights specialist who has investigated sexual harassment complaints in the private sector, turned in her report on Pacetti and Andrews last week.
Andrews and Pacetti faced harassment allegations made by two New Democratic MPs.