The pair drove her towards the dump and stopped on the side of the road. Sidhu raped her in the back seat, then directed Brar to rape her, Mr Macklin said.
"The complainant was petrified, she feared for her life," Mr Macklin said. "She did not want them to hurt her, to kill her or to leave her all alone in the middle of nowhere."
After the rape the men dropped her off in a street and a member of the public called police.
Mr Macklin said the men gave two statements each to police denying they had even seen the woman, however DNA evidence later proved there had been sexual contact.
During last year's trial the pair accepted having sex with the woman, then aged 38, but claimed it was consensual, he said.
"The sole issue in this case is consent."
Brar's lawyer, Louis Te Kani, said his client had followed the instructions of Sidhu. He said Brar would give evidence that it was consensual sex, not rape.
Sidhu's lawyer, Harry Edward, did not make an opening statement.
The trial before Judge Chris McGuire is expected to last three to five days.