Robin and her ex-husband Daniel have been in a contentious custody battle for a decade. Even though she says that she was granted full physical and legal custody of their 12- and 14-year-old daughters, she claims Daniel “kidnapped” them in the middle of the night and won’t return them to her home.

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

Daniel says the girls chose to run away from their mother and that he’s just trying to keep them safe. He says that he is fighting to get his daughters back – including going to court 30 times with Robin – because he claims Robin has a problem with alcohol, dates abusive men and that her house is not safe for his girls.

In the video above, Dr. Phil reviews a social media post that Daniel sent to his oldest daughter that Robin claims encouraged the girls to run away from her home to be with him. And, Robin explains why she believes Daniel has been “brainwashing” their daughters against her.

WATCH: Man In Custody Battle Calls Ex-Wife “A Liar, Mentally Unstable”

On Wednesday, Robin faces Daniel for the first time in six months on Dr. Phil’s stage. And on Thursday, hear new explosive accusations from Daniel about Robin, and hear from their daughters, Dani and Zoey. Check here to see where you can watch.

TELL DR. PHIL YOUR STORY: Betrayed by a loved one?

Woman Claims Ex Has Been ‘Brainwashing’ Daughters To Hate Her