The 26-year-old retired after being released at Elland Road in February and also announced his sexuality at the same time.
But 18-time USA international Rogers has since returned to football with Los Angeles Galaxy and became the first openly gay man to compete in top North American sport in the process.
However, given the stigma attached to homosexuality in sport, and especially football, he feared he would not get the chance.
In an exclusive interview with Sky Sports' Geoff Shreeves in LA, Rogers explained his concerns about coming out, as he said: "I was 100 per cent convinced that I was done [in football], which is stupid looking back.
"I do not know why I was so afraid to be a gay soccer player or a gay athlete. It was a learning process for me and a learning process for everyone."
He added: "I have had so much support. I think this is about exposure, someone doing it [coming out] and setting an example."
You can watch 'The Robbie Rogers Interview' at 10pm tonight on Sky Sports 2HD