"Every day, I relive that night and I've beaten myself up over and over again about that night," Martin said.
"What I say to myself every night is, had George Zimmerman simply not gotten out of his car, Trayvon would still be here," he said.
One of the six jurors from Zimmerman's trial told CNN that she believed the defense's contention that Zimmerman acted in self-defense and that Trayvon Martin played "a huge role" in his own death.
The not guilty verdict has sparked protests and vigils around the country, and the Department of Justice is still investigating possible civil rights violation charges against Zimmerman.
Zimmerman's attorney Mark O'Mara told HLN earlier this week that he believes federal charges are unlikely and he has been surprised by the outcry against the verdict.
"When I woke up the next day to all these protests, I was really surprised, but then I realized the people who have opinions on this case aren't going to change them no matter what, and they're not going to change them based on the facts of the case," O'Mara said.
Tracy Martin and Sybrina Fulton both said that despite the verdict, Trayvon gives them the strength to go on.
"I promised Trayvon while he was in the casket that I will continue to fight for him as long as I have life in my body," Martin said.
"This is about a bigger picture," Fulton said. "This is about other Trayvon Martins...The conversation now becomes 'What do we tell our kids?' Do we tell them to walk fast, do we tell them to walk slow, do we tell them to take a friend with them, or do we tell them just to stay in the house?"
"We have no clue what to tell our kids to prevent them from going to the store and not ever coming home," she said.