Daniel says he has been in a custody battle with his ex-wife, Robin, for years. He says he’s fighting for custody of their 12-and 14-year-old daughters because he claims Robin’s home is unsafe for their children. He claims she has a problem with alcohol and has dated abusive men.

TELL DR. PHIL YOUR STORY: In a Custody Battle Nightmare?

However, Robin says that Daniel has been “brainwashing” their daughters to hate her. And, she claims he “kidnapped” their daughters in the middle of the night and won’t return them to her – even though she says there’s a court order for him to do so.

WATCH: 12- And 14-Year-Old Describe What They Say It’s Like To Be 'Caught In Middle' Of Parents’ Custody Battle

In the video above, Dr. Phil questions both parents about their behavior in front of their daughters. Robin addresses the allegation that she at one time had a sex offender living with her and the girls. And, Daniel responds to accusations that he showed his daughters a pornographic video and claimed their mother was in the video.

On Thursday's episode, Dr. Phil has some strong words for these parents and tells them what he thinks they need to do if they want to keep their daughters out of the foster care system. Check here to see where you can watch.

TELL DR. PHIL YOUR STORY: Dr. Phil, please solve our conflict!

Advice For Parents In Contentious Custody Battle