Letourneau and husband Vili Fualaau's kids are featured in Barbara Walters' interview airing Friday

Credit: Heidi Gutman/ABC

Georgia Fualaau was born behind bars, when her mother, Mary Kay Leoturneau was in prison, serving time for her relationship with her student, Vili Fualaau.

But now Georgia is 16, and her older sister, Audrey, is 17, and the teens are making their TV debut in their parents’ exclusive interview with Barbara Walters on ABC’s 20/20 on Friday.

Letourneau was Vili’s sixth-grade teacher when they began an affair in 1996. She was 34, he was only 13. After their relationship was revealed, Letourneau pleaded guilty to two counts of second-degree child rape and served seven-and-a-half years in prison.

But upon her release, she and Vili, now 31, reunited and wed. The couple will celebrate their 10th wedding anniversary in May.

Their teenage daughters – Audrey is set to graduate high school in June, while Georgia is a sophomore and cheerleader – aren’t fazed by their parents’ headline-making history.

“There was never a sit-down chat, ‘Now is the time we’re going to talk to our children about this,’ ” Letourneau, 53, tells Barbara Walters. “They seemed to already know because they grew up with it. There’s just never been a ‘Wow, we better explain.’ ”

The girls are now in the same school district that their mother used to teach in and visited their mother in prison when they were little. And even back then, Letourneau says she could see what a good dad the then-teenage Vili was.

“Probably why I looked so forward to getting married is because I already knew what kind of father he was … just knowing his personality and how invested he was in being a father,” she said.

The interview airs Friday at 10 p.m. ET on ABC.