Taylor wrote to Dr. Phil saying she was concerned for the well-being of her 12- and 14-year old siblings. The young woman claims they were raised by their single mom, Susan, in a house of filth. She claims there was feces, garbage, bugs and that the pantries were often empty. She also claims they were evicted from homes and had to sleep in a homeless shelter.

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

On Thursday and Friday’s episodes of Dr. Phil, Taylor confronts her mom about their living environment, and Susan denies all of Taylor’s accusations, calling her daughter a liar.

After speaking with Dr. Phil, Susan agrees to let cameras into her home. See what happens in the video above.

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

Dr. Charles Sophy, a board-certified adult and child psychiatrist, medical director for the Department of Child and Family Services in Los Angeles, and Dr. Phil Advisory Board member, weighs in with his thoughts after viewing the video.

“Even though Mom may have a good heart and she might have good intentions, she’s not capable of seeing the reality of what’s going on, so I have to take it in my hands,” he says.

This episode airs Friday. Watch more here.

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