Footage has emerged of the moment the imprisoned Turpin family children escaped from their parents' "house of horrors".

Moments before police descended on the suburban home in Perris, California, the children, some of whom were allegedly tortured and shackled, the children can be seen filing out onto the drive.

One of them can be seen carrying a younger sibling, while another gets into a van parked outside the house where their parents allegedly held them captive.

David Turpin, 56, and his wife Louise Turpin, 49, have been charged with torture, abuse and false imprisonment.

They were arrested after one daughter escaped from through a window of the home and alerted authorities.

Investigators found a number of the children, who range in age from 2 to 29, shackled to beds with chains and padlocks. They said that some of them were severely malnourished.

When the couple appeared in court, Riverside County District Attorney Mike Hestrin said the couple had allegedly punished their children by tying them up.

He said the alleged punishments would last weeks or months, and intensified over time.

Turpin family: 13 siblings who were held captive by their parents Show all 15 1 /15 Turpin family: 13 siblings who were held captive by their parents Turpin family: 13 siblings who were held captive by their parents David and Louise Turpin with their 13 children who were being held captive by their parents in the family home in Perris, California. Facebook Turpin family: 13 siblings who were held captive by their parents Riverside County District Attorney Mike Hestrin speaks during a press conference announcing charges against David Turpin and Louise Turpin in relation to their 13 malnourished children found chained in their home, in Riverside. The two parents were charged with multiple counts of Child abuse, torture, abuse of dependent adults and false imprisonment and could face close to 100 years to life in prison if convicted. EPA Turpin family: 13 siblings who were held captive by their parents The home of David Allen and Louise Anna Turpin, where some of their children were bound with chains and padlocks. Reuters Turpin family: 13 siblings who were held captive by their parents David Allen Turpin poses for a mugshot after being arrested. Riverside County Sheriffs Department via Getty Turpin family: 13 siblings who were held captive by their parents One of the captives, a 17-year-old girl, escaped over the weekend and notified the Riverside Sheriff’s Department. Facebook/David-Louise Turpin Turpin family: 13 siblings who were held captive by their parents Perris residents watch as media gather in front of Turpin family home. The Sheriff's deparmtent said "the parents were unable to immediately provide a logical reason why their children were restrained in that manner." AFP/Getty Turpin family: 13 siblings who were held captive by their parents The children were found in dark and foul-smelling surroundings and "The victims appeared to be malnourished and very dirty,” the department said. Facebook/David-Louise Turpin Turpin family: 13 siblings who were held captive by their parents Neighbours stand outside the home. Getty Turpin family: 13 siblings who were held captive by their parents Louise Anna Turpin poses for a mugshot after being arrested. Not all of their victims were children: of the 13 victims, seven were between the age of 18 and 29, according to the Sheriff's Department. Riverside County Sheriffs Department via Getty Turpin family: 13 siblings who were held captive by their parents David and Louise Turpin in 2015. Authorities arrested them on torture and child endangerment charges, setting bail at $9m (£6.5m) apiece. Facebook/David-Louise Turpin Turpin family: 13 siblings who were held captive by their parents David Turpin and Louise Turpin appear in court for their arraignment in Riverside Reuters Turpin family: 13 siblings who were held captive by their parents David Allen Turpin and his wife, Louise Anna Turpin celebrate a renewal of their wedding vows with Elvis impersonator Kent Ripley in Las Vegas in 2011 A Elvis Chapel via AP Turpin family: 13 siblings who were held captive by their parents David Allen Turpin appears in court for his arraignment in Riverside. Prosecutors filed 12 counts of torture, seven counts of dependent adult abuse, six counts of child abuse and 12 counts of false imprisonment against Turpin and his wife, Louise Anna Turpin. The Press-Enterprise via AP Turpin family: 13 siblings who were held captive by their parents Neighbour Liza Tozier, and her son, Avery Sanchez, 6, drop off his large "Teddy" as a gift for the children. AP Turpin family: 13 siblings who were held captive by their parents Louise Turpin appears in court for her arraignment in Riverside. Authorities say the abuse left the children malnourished, undersized and with cognitive impairments. Reuters

It was also alleged that the children were accustomed to frequent beatings, including strangulation, were only allowed one shower a year and the Turpin parents allowed their children to eat just one meal a day although the parents would sometimes buy food and place it where the children could see it but not eat it.

Investigators also claimed that the children lack basic knowledge of life and did not know who a police officer was, they had never seen a dentist and had not visited a doctor in over four years.

All of the children were home-schooled, except for the eldest, meaning there was no obligation for them to come into contact with any outside parties under Californian law.

The Turpins have pleaded not guilty in Riverside County to multiple counts of torture, child abuse, abuse of dependent adults and false imprisonment.

David Turpin, 56, has also been charged with one count of a lewd act on a child by force.

If convicted, he and his wife Louise, 49, face up to 94 years to life in prison.