Fifteen-year-old Madison’s parents say they have lost control of their daughter. Tom and Karen claim she skips school, runs away, drinks, smokes, does drugs, steals cars, has physically attacked Tom; and - recently –allegedly – involved in an armed robbery which led to a high-speed car crash. Karen says Madison is now corrupting their 13-year-old daughter, Liz; and together, the girls “terrorize the family.”

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Madison says she’s “just a fun-loving teen” whose parents don’t understand her. She says her parents exaggerate and “blow things way out of proportion.” She denies being a corrupting influence on her younger sister.

As the family was preparing for their appearance on Dr. Phil, Tom and Karen told producers there was “no way” they would be able to get Madison to Los Angeles on their own, so staffers referred the family to a professional transporter for assistance. The video above illustrates what happened when the transporters arrived in the middle of the night.

“Wish it never led to this, wish we didn’t have to have this … come to this kind of result. Wish we could have had a better path. I feel deeply responsible and accountable,” says Tom. But he and Karen both agree it was the right thing to do.

“You understand this is the family dynamic,” says Dr. Phil on Monday’s episode. “Parenting has contributed to this. Her choices now are contributing to this. This is a family dynamic. But however we got here, the number one thing is - you have to save her from herself. If you are responsible, let’s say you are 100 percent guilty of making bad parental decisions that have put her in this position; it’s still your responsibility to get her off the edge of that cliff. And she is damn sure on the edge of a cliff.”

Can this family be helped? Part one of this two-part Dr. Phil airs Wednesday. Click here to find out where you can watch.

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‘I’ve Made Bad Decisions And I Know That I’ve Messed Up,’ Says Teen Whose Parents Claim She’s Out Of Control