Disgraced teacher Mary Kay Letourneau and her student-turned-lover are set to talk about their controversial relationship in a tell-all interview on the eve of their 10th wedding anniversary. Letourneau, 53, and her husband, Vili Fualaau, 31, will talk about her rape trial  and their married life in an interview with Barbara Walters on '20/20', which will air on Friday. 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. Scroll down for video . Speaking out: Mary Kay Letourneau Fualaau and her husband Vili Fualaau have spoken to Barbara Walters in an interview that will air on 20/20 on Friday - nearly 20 years after Letourneau's arrest for the relationship . Family: The couple's two teenage daughters, Georgia and Audrey, will join their parents for the interview . 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 . Going strong: The couple will talk about how they've stayed together despite the 21-year age gap . 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. 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.
Letourneau and Vili Fualaau will speak to Barbara Walters in a 20/20 interview that will air this Friday.
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.
Their now- teenage daughters will join them for the interview.