During Sunday's episode of Oprah's Master Class, Justin Timberlake  opened up about his decision to leave *NSYNC and kick off his career as a solo artist in 2002. "I would wake up every morning feeling more and more of an urge to step out on my own," he said. Justin also talked about all the backlash he faced over his choice, saying that people didn't understand why he'd want to leave one of the biggest groups in the world. "It's one of the best-slash-worst things that I have ever done," he said, adding, "It was bittersweet. It was hard to kind of say goodbye to that era, but I felt it changing. I felt music changing, and I felt myself changing." Watch his full explanation above, and relive the star's *NSYNC glory days with a look at Justin Timberlake through the years .