Helen, whose identity has been protected, said she was regularly beaten and sexually abused by her father growing up.
Speaking to Phillip and Christine, she said: "I felt fear. You could never answer back to him or stand up to him.
"I didn't know any different - he was the boss.
"He would say: 'If you lose me, you’ll be locked in an institution and they will throw away the key.'"
Helen, who was raped on a regular basis by her father, explained that she and her siblings 'lived like animals' with no carpets or bedding in the house.
She said: "We lived on a heightened alert. You always needed to look like you were doing something.
"He would encourage my brother to beat us up, strangle us while he watched."
Helen fell pregnant at the age of 14 and had absolutely no idea what was going on.
However her father, recognising her sickness for what it was, flew into a temper - and told her she should have taken more precautions.
"He said you couldn't possibly get pregnant from your father and I believed that.
"It was such a lie. I completely shut down when I found out."
Helen's father took her around the country on a special trip - which she later discovered was an attempt to find somewhere for her to have an abortion.
However the young schoolgirl was too far along in her pregnancy - and she went on to have the baby, whom she has called her 'pride and joy'.
Despite everything, Helen was still too afraid to leave her abusive father.
It was only when Helen found him with the baby that she realised she had to get out.
"The nappy was open and he was rubbing his hands together and stumbling over words and looked really guilty.
"I saw nothing, but something didn't feel right. I just got out of there," she said.
Following a court case, her father was taken into a psychiatric institution, where he later died.
Helen - who never confronted her father over what had happened - intended to never tell her daughter Sarah who her real father was.
"She found a letter under my mattress about the court case," Helen explained.
"She confronted me with it. I had to tell her the truth. We’re getting there now.
"There was a period where she hated me. She never felt [anything] and matured after she found out. She became really hard."
Despite everything, Helen has revealed that her daughter is - and always will be - her 'pride and joy', and insists she will never regret keeping her.
She hopes that telling her story will encourage others to speak up and stop suffering abuse in silence.