updated 10/11/2012 AT 6:00 PM ET
•originally published 10/12/2012 AT 7:30 AM ET
Peter Facinelli says co-parenting with his ex, Jennie Garth, is a daily process.
“When you’re going through it yourself, you have to take it day by day,” Facinelli says about caring for daughters Luca, 14, Lola, 9, and Fiona, 6, with Garth.
The couple split in March after 11 years of marriage.
The Twilight actor, who spoke with PEOPLE while promoting the Sears Outdoor Life collection in New York on Thursday, says he enjoys having quality time with his daughters by taking them on road-trips and outdoor adventures.
“I take the girls RV-ing all the time,” says Facinelli, 38. “There’s a lot of s’mores-making and singing by the campfire.”