Hillary Clinton on Monday joined her husband, former President Bill Clinton, and daughter, Chelsea Clinton, in endorsing gay marriage.

In a 6-minute video for the Human Rights Campaign's (HRC) Americans for Marriage Equality campaign, Clinton said that allowing gay and lesbian couples to marry will help bring us to “that more perfect union promised to us all.”

“LGBT Americans are our colleagues, our teachers, our soldiers, our friends, our loved ones,” Clinton said. “And they are full and equal citizens and deserve the rights of citizenship. That includes marriage.”

“That's why I support marriage for lesbian and gay couples. I support it personally and as a matter of policy and law. Embedded in a broader effort to advance equality and opportunity for LGBT Americans and all Americans.”

Clinton said her stance had been shaped by “people I have known and loved, by my experience representing our nation on the world stage, my devotion to law and human rights, and the guiding principles of my faith.” (The video is embedded on this page. Visit our video library for more videos.)

Clinton, who has strongly spoken out in favor of LGBT rights and cheered passage of marriage equality in New York, last weighed in on the issue in a 2011 profile for gay glossy The Advocate.

When asked if she agrees with her husband on the issue, Clinton responded: “Well, I share his experience because we obviously share a lot of the same friends, but I have not changed my position.”