Military disqualifications and family-related issues:?

I would very much like to join the US Navy. I was filling out my SF-86 form for secret clearance, and there is a section that states to mark "no" for any inpatient or outpatient counselling if it involves family, grief or marital issues and is not violent/court ordered. This is NOT the case on the DD forms that MEPS uses. My recruiter insisted that if I divulge the records surrounding my 3-day voluntary stay at a psych counselling center that they will deem me unfit for military service. I am highly intelligent, scored really high on the ASVAB (94) and have not had any recurring issues pertaining to job performance, every day stress, anxiety etc. I was not diagnosed with any kind of mood disorder or any behavioral issue, I simply needed to speak with someone who was trained and objective in helping me deal with very troubling family issues related to my mother's drug use and her abusive relationship situation. This was an ongoing issue that my brother and I were faced with for years and I had a hard time accepting that there was no way I could fix it or help her. I guess it was depression but it was situational and not some chemical imbalance, and I checked myself in and out after completing the program. Now, my recruiter has instructed me to lie, but I just don't feel right about it. I have pretty high moral standards and am a terrible liar. I have heard from people who have told me they will definitely find out, and several who have told me as long as I keep saying no to all instances pertaining to psych records that they will not find them because if I answer no I will no have to sign a release. I dont know if I trust this, and even still, I think it is wrong. But I also do not thing my one, 3-day visit to the counselling center over things that have nothing to do with my work performance, ability to handle pressure, or performance should disbar me from military service. Is this an automatic PDQ and if so is it at all possible to be granted a waiver for this? It was 5 years ago and I have not had any counselling or anything since or before that instance.