Speaking to The AP about his memoir Life, the guitarist admitted that he and Jagger's relationship is often rocky, but explained that this is the normal pattern for many successful musical groups.
"You don't expect relationships to remain in the same groove all the time," he remarked.
Richards continued: "It goes up and it goes down and we always end on middle ground and find our spot together."
The rocker revealed that Jagger has read his new autobiography and only lodged minor complaints.
He also added that he hopes the new book will provide fans with an insight into what it's like to be a Rolling Stone.
Richards concluded: "I was hoping to explain a lot of what went down to be part of the Stones. Also, in a strange way, I wanted to put order into it myself.
"It's a very kaleidoscopic life, rock and roll, and trying to find some order and narrative is probably the hardest, because in real life, you don't think of things in such clear-cut terms."
The musician recently announced that he will attend a November 3 book signing in London.