Susan is a single mom to three children. She says over the last 14 years, she has sacrificed many things while raising her daughter, 20-year-old daughter, Taylor, a 14-year-old son and a 12-year-old daughter. She admits that she hasn’t been the perfect mom but says her kids always came first.

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Taylor, however, claims her childhood was a living hell. The young woman claims they were evicted from homes, moved 16 times and once lived in a homeless shelter. She also claims that the houses they lived in were filthy, filled with feces, garbage, bugs and empty pantries -- and that her two younger siblings are still living in horrendous conditions.

Susan denies Taylor’s accusations about the cleanliness of her homes.

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

Taylor’s younger siblings open up to Dr. Phil and psychiatrist and Dr. Phil Advisory Board member Dr. Charles Sophy on Friday’s episode about what their home life is like now. Are they still living in filth? And why do they say they have never had a friend over to their house? Watch the video above.

And on Friday’s episode, does Susan admit any wrongdoing? Plus, she allows cameras in her home. What do they find? Check here to see where you can watch.

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'We’re Going To Get Help For Your Mom And For Your Family,' Dr. Phil Tells Young Siblings