Taylor claims that her mom, Susan, and younger siblings are living in horrendous conditions – and that she worries for the safety of her brother and sister. Taylor claims the house is filthy and filled with feces, garbage, bugs, dirty mattresses, and empty pantries.

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Taylor claims that her mom doesn’t want anyone to come over and see what the home looks like.

“I haven’t been able, ever since I was a kid, to have friends over and stay the night because of that reason,” Taylor tells Dr. Phil on Tuesday’s episode.

Dr. Phil tells Taylor that his producers say Susan refused to let Dr. Phil cameras inside her home to film with her. “My theory is people who have nothing to hide, hide nothing,” Dr. Phil says.

Later in the show, Susan claims she was never asked to film in her home.

In the video above, see pictures from two of Susan’s homes over the years. On Thursday’s episode, Susan responds to Taylor’s accusations against her. What does she say about her current living conditions? And on Friday, a voice from Susan's past says he wants to set the record straight. And, hear what Susan's younger children have to say. Plus, Susan allows cameras in her home. What do they find?

Check here to see where you can tune in.

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'I Have Devoted, Literally, 14 Years Of Everything That I've Had To Those Kids,' Says Mom Whose Daughter Accuses Her Of Making Her Life Hell