Mohamed Hamdan Dagalo is a controversial figure in Sudan.
A prominent military leader in Sudan described the overthrow of the civilian authorities two years ago as a "mistake".
Lieutenant General Mohamed Daglo, vice president of the ruling council in Sudan, said that the coup benefited politically the supporters of former President Omar al-Bashir.
Military leaders have been accused of undermining the transition to civilian rule after Bashir was ousted in 2019.
Pro-democracy activists have been organizing protests against the military authorities ever since.
"Unfortunately, (the coup) has become a gateway to the return of the former regime."
He warned that allies of former President Al-Bashir, who ruled the country for nearly three decades, are regaining their political foothold.
He was referring to supporters of the former ruling National Congress Party in the army, who were appointed to the government after the coup.
Dagalo praised a transitional plan signed last year that aims to re-establish a two-stage political process to restore civilian rule. He also said he supported the demands of the pro-democracy protesters but acknowledged he had "made mistakes at times".
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His remarks come amid growing tension between his paramilitary unit, the Rapid Support Forces, and army chief Lieutenant General Abdel Fattah al-Burhan, the de facto leader of the country.
Al-Burhan warned last week that he would not tolerate the RSF operating as an independent force, and should instead be integrated into the army.
Dagalo said in his speech that he would not allow "the remnants of the defunct regime to drive a wedge" between the Rapid Support Forces and the regular army, but he did not elaborate.
His recent comments, for a man like him who in recent years has not been shy about expressing his political ambitions, can be seen as a deliberate attempt to break away from the military and ally with some civilian groups.
There are some signs that such an offer could be welcomed, as civilian groups feel they need an armed ally to confront the military authorities.
But there are fears that such a move could lead to more instability.
The early reaction to Dagalo's speech was mostly derisive.
Critics point out that the letter did not address accountability for the killing of civilians, including a June 3, 2019 massacre allegedly committed by the RSF.
They also say he did not address allegations that the same unit that was then allied with Bashir committed genocide in West Darfur. This conflict began in 2003 and is estimated to have killed hundreds of thousands of people and forced millions from their homes.