Watch: '20/20' features story of Lakeville sisters missing for more than 2 years

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ABC News' "20/20" took a look at a secret network that helps mothers hide their children – and the show highlighted the story of the Rucki sisters.

Samantha and Gianna Rucki of Lakeville disappeared in April 2013 during their parents' divorce and custody battle, and were found nearly three years later on a horse ranch near Herman, Minnesota.

Sandra Grazzini-Rucki, the girls' mother, claimed her ex-husband, David Rucki, physically abused her and their kids – something David Rucki has denied, saying his ex-wife brainwashed the girls.

The "20/20" episode, which aired Friday night, detailed what led up to the girls going missing, their time at the ranch, how they're doing now, and the secret underground network of people who help hide children like the Rucki sisters.

You can watch the episode by verifying your cable or satellite provider here, through Hulu here, or to watch without logging in, click here to for part one and here to watch part two.

[hulu id="_IhwVPMh2JNyA7dO0A2okg" width="480" height="270"]

Prosecutors allege Grazzini-Rucki, who faces felony charges, and her friend dropped the girls off at the therapy ranch in April 2013, where they stayed until they were found last November.

While the girls were missing, a judge granted full custody of the Rucki children to David Rucki. The girls are now living back with their father, with "20/20" noting they are "doing well" and getting good grades in school.

Grazzini-Rucki maintains her husband was abusive towards her and her children, but their kids no longer say he did. Nico Rucki told "20/20" that after his parents split up, his mother tried to get them to turn against their father.

"She started to say like, 'Your dad's this bad guy, your dad, like, hurt you when you were younger,'" Nico Rucki told "20/20". "I was like, 'What? What are you talking about? I don't remember any of this.' 'Well, it happened to you.' At the time I believed it because you listen to your mom."

Grazzini-Rucki is awaiting trial, as are the owners of the horse ranch – Doug Dahlen and Gina Dahlen – and the person who helped Grazzini-Rucki bring the girls to the ranch.

The Dahlens were charged with felony deprivation of parental rights for hiding the girls at the ranch, but they argue they made no effort to “hide, restrain or conceal” the teenagers.

"20/20" also published a timeline of the case. You can check that out here.

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