"We need to heal this," Hubert said in an interview with TheGrio.com.
Hubert left the show after three seasons in 1993 and was replaced by Daphne Maxwell Reid. She maintains that she left over a salary and episode count dispute, but Smith has said over the years that Hubert's bad attitude on set led to her dismissal.
Asked what she would say to Smith now, Hubert added: "You've done some things, you've said some things, that were totally untrue and you know that they were untrue. I've said some things that I probably should have never said. ... I don't want to do another 21 years like this. Do you?"
In 2011, Smith posted a photo on Facebook of some of the Fresh Prince cast members hanging out. Hubert, who was not in the photo, later told TMZ: "There will never be a reunion ... as I will never do anything with an a--hole like Will Smith. He is still an egomaniac and has not grown up. This ... reunion thing will never ever happen in my lifetime unless there is an apology, which he doesn't know the word."
Sounds like she's changed her tune! Watch Hubert's full interview below: