Susan says that since her husband died 14 years ago, she’s been left to raise her three children on her own. She says she’s devoted everything she has to her children and made many sacrifices for them.

TELL DR. PHIL YOUR STORY: Expolsive family drama?

Her oldest daughter, Taylor, claims her mother is lying. She claims her mother made her life a living hell, and she says she fears for the safety of her two younger siblings. She claims they have always lived in a house of filth, filled with feces, garbage, dirty dishes, and that often, their pantry was empty. She also claims they moved 16 times and were evicted and stayed in a homeless shelter.

In the video above from Friday’s episode of Dr. Phil, Bob, a friend of Susan’s describes what happened when he let her and the three children live in one of his houses. Hear why he claims he had to have Susan evicted from the house, and why it took eight months to rehabilitate the home.

WATCH: 'It’s Time For Complete Transparency,' Dr. Phil Tells Guest

How does Susan explain the eviction?

On Friday’s episode, hear from Susan’s two younger children. And Dr. Phil and Dr. Charles Sophy, a board-certified adult and child psychiatrist, medical director for the Department of Child and Family Services in Los Angeles and member of the Dr. Phil Advisory Board, have a powerful message for Susan. Plus, Susan allows cameras in her home. What do they find? Check here to see where you can watch.

TELL DR. PHIL YOUR STORY: Do you need Dr. Phil to "get real" with someone?

‘You’re Not Owning What You Need To Be Owning,’ Psychiatrist Tells Mom Accused Of Living In Filthy Conditions With Kids