Jaycee Dugard described the intimate details of her kidnapping and sexual abuse after releasing exclusive excerpts from her memoir to People Wednesday.

The passages from her memoir, "A Stolen Life," describe Dugard's first night in captivity, and the moment she discovered she was pregnant and going into labor alone.

On June 10, 1991, then 11-year-old Dugard was shot with a stun gun and kidnapped by Phillip and Nancy Garrido near her home in South Lake Tahoe, Calif.

Now 31, Dugard reveals disturbing details of the ongoing sexual abuse she faced at the hands of the Garridos.

"I say my family doesn't have a lot of money, but they would pay a ransom to get me back. He looks at me and smiles and says, 'Really? He leads me into a new room. He takes a blanket off my head, and I see a bunch of blankets on the floor. He reminds me of the dogs outside that don't like trespassers and says to them I would be a trespasser. He says he has to put handcuffs on me, but that they have fur on them so they won't hurt too much. Then he is gone."

Dugard was repeatedly raped by Phillip Garrido, causing the then-teenager to become pregnant twice. After realizing she was pregnant the first time, at 14, Dugard recalls being left alone and locked in her room while going through labor.

"I have been having sharp pains all day. Is this what it feels like to have a baby? I am so scared! No one has come to check on me all day and the door was still locked, so I had to wait until someone comes," she wrote.

After the birth of her second daughter, Phillip Garridos continued to abuse Dugard -- forcing the young mother to pretend to be her daughter's older sister so as not to upset his jealous wife.

The nightmare finally came to an end in 2009, when the Garridos' plot was discovered and Dugard was reunited with her mother.

"I was nervous about the reunion," she said. "For the longest time I couldn't remember what my mom looked like. But there she stood, with arms wide open. She was smiling and crying and she put her arms around me and I felt so safe and whole again."

Garrido, who fathered two children with Dugard after kidnapping her, was given 431 years, while his wife was jailed for 36 years to life, after a plea bargain.

Dugard's memoir is set to be released on July 12, following a television interview on July 10 in which the mother of two will tell her story to Diane Sawyer on ABC.