New Jersey Sen. Cory Booker on Wednesday accompanied five migrant women as they crossed the southwest border to seek asylum, a day after his presidential campaign released his immigration plan.

"My belief is they should be granted asylum, but they have a process to go through, but we are going to try and follow them through that process,'' Booker could be seen telling reporters in a video posted on his campaign's Facebook page. "...They should have their asylum case evaluated, I think they are legitimate, and I think they should be allowed entrance into the United States of America."

From the scene:Cory Booker visits Juárez to help escort migrants seeking asylum

Booker, joined by advocates and attorneys, entered the United States after traveling to Ciudad Juárez, Mexico where he met with migrants who have left their homelands and hope to seek asylum. But under new policies implemented by the Trump administration, some asylum seekers have had to wait in Mexico for their day in U.S. immigration court even after they have been processed by Customs and Border Protection.

All five women had been previously sent back to Ciudad Juárez under the Trump administration’s “Remain in Mexico” policy, according to Families Belong Together, a coalition of 250 organizations which have joined together to fight family separation, and Las Americas, an immigrant advocacy center in Texas. Representatives from both organizations joined Booker on Wednesday.

“Trump’s ‘Remain in Mexico’ policy is creating horrific suffering at the border and El Paso is at the center of this crisis,” said Jess Morales Rocketto, Chair of Families Belong Together, in a statement. “Vulnerable people searching for safety are being sent back to dangerous conditions, without food or shelter, in violation of their human rights. This president continues to heartlessly put the lives of vulnerable people at terrible risk.”

Booker said some of the women were survivors of sexual violence.

"Their stories of the violence they endured were painful, heartbreaking, and unacceptable,'' Booker said.

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On Twitter, he gave more details about the women and their experiences in detention.

"One of them shared that she spent one month in detention,'' he posted on his Twitter account. "While there, she said the entire detention center had to stand in the sun all day without food, just water – but sometimes they ran out of water too."

Booker unveiled his immigration plan on Tuesday that calls for shifting away from criminal prosecution of border crossers and new requirements for migrant detention facilities to meet minimum standards.

The plan also states that Booker would use executive powers to steer the Department of Homeland Security from conducting raids of migrants at schools, churches and courthouses, according to the Associated Press. He would also end the Trump administration's ban on travel to the U.S. by residents of certain majority-Muslim countries.