The daughters of Mary Kay Letourneau and her former student-turned husband, Vili Fualaau, are now older than their father was when, at age 12, he started an affair with his teacher. On the eve of the infamous couple's 10-year wedding anniversary, Letourneau, Fualaau and their two children, 17-year-old Audrey and 16-year-old Georgia, sat down for an exclusive interview with Barbara Walters on 20/20, which will air on ABC Friday at 10pm. Letourneau, then a 34-year-old married mother of four, pleaded guilty to child rape for her illicit affair with her sixth-grade student, which resulted in two pregnancies. Audrey Fualaau was born while her mother was out on probation in 1998. Her 16-year-old sister, Georgia, was welcomed into the world behind bars after the disgraced teacher was re-arrested and sent back to prison for having another sexual encounter with her former student. Scroll down for video . Family affair: Mary Kay Letourneau, Vili Fualaau, and their two daughters, Audrey and Georgia, sat down for an interview with Barbara Walters on the eve of the couple's 10-year wedding anniversary . Speaking out: The interview will air on 20/20 on Friday - nearly 20 years after Letourneau's arrest for the relationship with her former student . Modern family: Mary Kay Letourneau and Vili Fualaau's 17-year-old daughter, Audrey (right), was born while her mother was out on probation. Her 16-year-old sister, Georgia (left), was born behind bars . Both girls attend school and sing in a choir in the same district in Seattle where their mother had once taught. Audrey graduates high school in June and is set to start college next fall, while Georgia is currently a sophomore. In an interview with Walters, the Fualaau sisters said their parents have told them how they met, but they were not taken aback by the scandalous circumstances surrounding their mom and dad's relationship. 'There was never a sit-down chat, 'Now is the time we're going to talk to our children about this,' Mary said. 'They seemed to already know ... because they grew up with it. ... There's just never been a 'Wow, we better explain.' Letourneu's 31-year-old husband also opened up about the challenges of building a life together and raising two children. 'I don't think there's ever a full 10 good years of marriage,' Fualaau told Walters. 'You have your ups and downs in marriages. But, you know, what matters is how you pull through all the bad times.' The 31-year-old said that being a young father was difficult. Fualaau, pictured here with his eldest daughter, said that raising two girls as a teenager with help or support was difficult . Goofing around: Audrey, a high school senior, is pictured pulling funny faces at the 20/20 studio during the taping of the Barbara Walters interview . 'I don't feel like I had the right support or the right help behind me,' he said. 'From my family, from anyone in general. I mean, my friends couldn't help me because they had no idea what, what it was like to be a parent, I mean, because we were all 14, 15.' The former Seattle teacher shot to infamy after starting a relationship with Fualaau when he was a 12-year-old sixth-grade student and falling pregnant with his child when he was just 13. After she served a seven-year prison term for the relationship, they married and now have two children together. She also has four children from a previous marriage. Their two daughters, Audrey and Georgia, who are now both teenagers, will join their parents for the interview, ABC News said. While speaking with Walters, Letourneau will discuss her plans to get her status as a registered sex offender lifted, as well as her hopes to teach again one day. She will also talk out about how they make their marriage work despite the 21-year age gap, ABC News reported. Fualaau will discuss his struggle with alcoholism and depression and how he believes he was failed by the system as a minor. After his teacher was convicted, his family filed a lawsuit against the police department and the school district for failing to protect him from sexual exploitation. No damages were awarded. Relationship: The duo first met when Fualaau (pictured in 1998) was in second grade and went on to have a sexual relationship when he was 12 and Letourneau (right in a 1996 school photo) was his teacher . In court: She is pictured listening to testimony in 1998; she went to prison for seven and a half years . Proud: She is pictured showing off her pregnancy bump in a photo released in 1998. She fell pregnant with their first daughter before she was arrested and with their second after she was released . Reunited: Letourneau is pictured with her daughter Audrey during a prison visit in 2003 . The pair originally met when he was in her second grade class and then she taught him again in sixth grade in 1996. As she taught him, their relationship turned sexual and a friend of her husband's ultimately went to the police with his suspicions. But before she was arrested, she fell pregnant with the boy's child and gave birth to his first daughter, Audrey, while she was on bail in May 1997 while waiting for the outcome of her trial. She was sentenced to six months in county jail - although three were suspended - and was ordered to have no contact with the boy. But weeks after he release, she was found having sexual relations with him in her car and fell pregnant with their second daughter. Family: She was married and had four children before the affair. She is pictured, right, with one of her sons . Back together: The couple is pictured during a photo shoot at their Normandy Park, Washington home in 2006. She was released from jail in 2004 and they got married a year later . At home: The couple is pictured with their daughters as they drive near their home near Seattle in 2005 . Letourneau gave birth to the baby while she was in jail after being sentenced to an additional seven-and-a-half years behind bars. She was released from jail in August 2004 and Fualaau, who was then 21, asked the court to have the no-contact order overturned, which it was. The couple got married a year later at a Washington winery - when she was 43 and he was 22. They have been together ever since. While some might compare this story to so many other female teachers in under age sex scandals, Letourneau's long-time family friend, photographer Mark Greenberg, tells the Daily News they've got it all wrong. 'I know there are people out there who find it to be nothing other than this woman broke the law and she's a rapist, and yet there are others who see it as 'love is something that's pure' and here's two people who are enjoying the fruits of that,' he said. Letourneau also made headlines last year after she was booked into Washington's King County Jail for failing to go to court following a 2013 third-degree charge of driving on a suspended license. Going strong: The couple will talk about how they've stayed together despite the 21-year age gap .
Letourneau and Vili Fualaau spoke to Barbara Walters in a 20/20 interview that will air Friday . Couple's 17-year-old daughter, Audrey, was born while her mother was out on probation. Her 16-year-old sister, Georgia, was born behind bars . Letourneau and Fualaau started a sexual relationship when she was his sixth-grade teacher and she fell pregnant with his child when he was 13 . She served a few months in jail and fell pregnant with his second child within weeks; she was then sent back to prison for seven years . But a year after her release in 2004, they married and are still together . Letourneau said there was never a big conversation with their daughters about the scandal because they grew up with it . Vili Fualaau lamented that he didn't have the right support as a young father of two girls .