Bishop of Ripon and Leeds, the Rt Rev John Packer, has apologised in the House of Lords for the way in which Christians "misused Scripture" 200 years ago in order to defend slavery.

Thursday's debate on the legacy of the slave trade was introduced by Baroness Lady Howells, who expressed her regret over the slavery and colonial era and its modern "debris", which she said included substandard housing, over-representation in the prison population and the mental health service, underachievement in and disproportionate exclusions from our schools.

Bishop Packer urged the Lords not to confine slavery to the past but instead called for an expression of gratitude for the measures taken 200 years ago which led to the abolition of slavery.

"It is important that apologies are expressed for the involvement, and indeed leadership, of our country in that trade and of the institutions of our country, including the Church of England, in perpetuating slavery 200 years ago," he said.

The General Synod of the Church of England issued a formal apology in 2006 for its ownership of plantations and slaves. "I repeat that apology to your Lordships' House today," said Bishop Packer.

"I also apologise for the ways in which, 200 years ago, Christians misused Scripture so tragically in defence of the slave trade. That may have something to teach us Christians or members of other religious traditions within our country and our society today."

Bishop Packer said it was "more crucial", however, to address the current legacies of slavery, including those raised by Baroness Cox, but also the plight of street children across the world, and in Brazil in particular, where six times as many enslaved Africans went to as ended up in the US.

He called on the UK and the international community to tackle "that tragedy", in which street boys and girls often forced into drug gangs or underage prostitution, and one in three street children dies before the age of 18.

He praised the work of charities to help street children but added that, "Only by a concerted international effort can this legacy of the slave trade be tackled."

He also welcomed the way in which reflecting on the abolition of the slave trade this year had exposed the "viciousness" of sex trafficking and the exploitation of women.

Bishop Packer welcomed some of the new measures to uncover and punish sex tourists but warned, "Sex slavery is not a matter for faraway countries, but it is prevalent here in the UK."

He highlighted the work of CHASTE (Churches Alert to Sex Trafficking Across Europe), which estimates that around 4,000 women are held in sex trafficking locations in the UK today.

"A culture of demand is driving the sex industry which neither government nor churches are doing anything like enough to quell," he said.

CHASTE is sponsoring "Not-for-sale Sunday" on 20 May in an attempt to expose the modern day slavery of women who are forced into the sex industry.

"The sexualising of society is a major driver of slavery in our culture. Much more needs to be done to tackle that basic part of our culture on which sex trafficking is built," said Bishop Packer.

He also called on the Lords to remember that many of the UK's National Trust properties were created or enhanced by profits from the slave trade.

"Their beauty and attractions are based on human blood and terror. There should be a real uneasiness as we enjoy their attractiveness this summer and commit ourselves to do something about slavery in our own generation," he said.