Richard Simmons' longtime housekeeper is opening up about their close relationship following the fitness personality’s death.

Teresa Reveles, who worked as Simmons' house manager for 35 years, reflected on her intimate friendship with Simmons in an interview with People magazine published Monday.

"Richard took me in, all those years ago. And he became like my father. He loved me before I loved him," Reveles told the magazine. "He gave me beautiful jewelry. Every time he gave me something, in the early years, I was thinking, 'He doesn't know me! Why did he do this? Why did he do that?' "

Simmons died at his home in Hollywood on July 13. His publicist Tom Estey said he had "no idea" what the cause of death was.

Richard Simmons dies:Fitness pioneer was 76

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Reveles said she was introduced to Simmons through an agency in 1986.

"I showed up in here and Richard says to me, 'Where are your clothes? Where is your big suitcase?' I said, 'I just bring the little suitcase because I only try this for two weeks. If you don't like me or you don't like my cooking, then I can't work,' " Reveles recalled, but Simmons replied, "Teresa, come in, you are never going to leave. We are going to be together until I die."

She added: "And you know what? His dream came true. He knew somehow."

Richard Simmons' housekeeper recalls fitness icon's fall before death

Simmons' death came one day after the fitness icon’s 76^th birthday.

Reveles told People that Simmons fell two days before his death, and he later told her the morning of his birthday that his legs "hurt a lot." Despite Reveles' recommendation to go to the hospital, she said the "Sweatin' to the Oldies" star chose to wait until the following morning.

Reveles said she found Simmons in his bedroom following his death. Although a cause of death has not been confirmed, she alleged Simmons died of a cardiac episode.

"When I saw him, he looked peaceful," Reveles said, noting Simmons' hands were balled into fists. "That's why I know it was a heart attack. I had a heart attack a few years ago, and my hands did the same."

Simmons' publicist said in a statement to USA TODAY Monday that "Ms. Reveles personally feels that Mr. Simmons suffered a fatal heart attack as a result of her previous experience and what she witnessed first-hand that morning."

Teresa Reveles reveals why Richard Simmons stepped away from spotlight

Reveles also reflected on Simmons' retreat from the public eye in the final years of his life, and she addressed speculation that she influenced his celebrity absence.

"They said crazy things, that I kept him locked up in the house. But that just never was the truth," Reveles said.

She said Simmons wanted to leave the spotlight due to health issues and insecurity about his physical appearance. Reveles said Simmons suffered from knee pain and "thought he looked too old."

"He said, 'I want to be Richard. If I'm not going to be Richard...' — you know, with famous people they say, 'The day I can't be myself, then I have to stop working.' And that’s why he did it."

Richard Simmons, in his own words:Fitness personality's staff shares social media post he wrote before his death

Reveles said Simmons was doing well in the days leading up to his death. She said he was staying in touch with fans through phone calls and emails and that he was writing a Broadway musical about his life story.

"Everything happened the way he wanted," Reveles said. "He wanted to die first. He went first, and you know what? I'm very happy because Richard was really, very happy. He died very happy."

Contributing: Amanda Lee Myers and Mike Snider, USA TODAY