The Beverly Hills, 90210 star was in an accident in Temecula, California with four of her children and three of their friends a few days before Easter after they got hit by another vehicle, and they believe the other driver, who was speeding, had run a red light.
In an Instagram video, she said: "We're okay. It's been really overwhelming."
She added that the crash "could have been so much worse" with the other driver "going crazy, crazy fast".
She continued: "Guardian angels were definitely with us that day.
"In a split second, I saw that he was coming full-on impact into the side of our car and I turned left as hard, as I could as fast as I could, to avoid as much impact on the children as possible. He spun us out."
The 52-year-old actress also praised the first responders and staff at a nearby hospital for the "good care" they provided.
She said: "I just want to thank all of the first responders on the scene, and to Inland Valley ER in Wildomar. They took such good care of all of the kids and myself."
And she thanked "everyone who has reached out and repeatedly checked on us and offered to do whatever we needed to get us through" as well as "all the blessings everyone has sent".
She concluded the video: "Thank you everybody. Still putting my thoughts together about everything that happened, and just so much gratitude for life and the bravery of all the kids in the car with what they went through, so thank you to everyone."
In the caption to the video, she shared a brief thank you note.
She wrote: "Grateful to all the first responders, to everyone that has reached out and checked on us, to all of you and your prayers, and to our guardian angels."
19°C