Pope Francis sent shockwaves through the Catholic Church this week after he said gay people have a right to be in a family as they are "children of God".
However, in a radio interview this week Bishop Alphonsus Cullinan said , he believes, the Pope's comments do not mean he is in favour of same-sex marriages.
Bishop Cullinan also claimed parents want their sons to "grow up and meet a nice girl" and daughters to "meet a nice guy".
The Bishop of Waterford has previously sparked controversy after advised Catholics who had voted to repeal the Eight Amendment to go to confession.
In 2017, he also had to issue an apology after making false claims questioning the effectiveness of the HPV vaccine which protects against cervical cancer. He also suggested the vaccine encouraged sexual promiscuity.
Speaking on WLR FM, Bishop Cullinan said that parents want their kids to grow up and go out with someone of the opposite sex.
"Pope Francis believes that marriage is different.
"People listening in, parents, what do they want for their son? That he’ll grow up and meet a nice girl. What do they want for their daughter?
“That she will grow up and meet a nice guy so they will have grandchildren.
"This is God’s plan."
The Bishop of Waterford and Lismore said he agreed with the Pope’s view that there should be legal protection for same-sex couples, so they "will not be discriminated against"
However, he reiterated his views that marriage should involve a man and woman.
"Of course there should be no discrimination against gay people, but by the same token Jesus says, in the beginning, a man left his father and mother and clings to his wife, and the two become one.
"It’s the words of Christ I’ve come to represent."
This week, the Pope hit the headlines after he publicly endorsed civil partnerships for gay couples.
"You can’t kick someone out of a family, nor make their life miserable for this," he said in a documentary which premiered on Wednesday. "What we have to have is a civil union law; that way they are legally covered."
In 2017 Bishop Cullinan apologised after making false claims questioning the effectiveness of the HPV vaccine after coming under fire from health experts.
The HSE said the Bishop was endangering women’s lives by making false claims and the Association of Catholic Priests called on him to withdraw his remarks.
He later apologised. "I was not fully informed about the vaccination programme and I can see now how HPV vaccines can contribute greatly to lowering the rate of cervical cancer. As I have learnt, possession of full information is paramount on this vital health issue."