Warren Jeffs was arrested in 2006 for sexually assaulting minors, including two of his young wives and Rachel.
He was convicted and sentenced to life in prison plus 20 years in 2011.
Telling her story was vital so other church members could know who Warren Jeffs was so they could make an informed decision to leave the church, she told Newstalk ZB.
"I wanted them to know the truth about him.
"He taught against what he did. He taught against the abuse and made people think he was a perfect man," Jeffs said.
She and other were taught they were different from the world and that they "should feel so grateful and privleged we were different".
When asked if she thought that other young members of the church knew what was going on was wrong she said he only abused his own family.
"Other members didn't know what he was doing. He did it so privately and quietly, whoever he did abuse didn't know the others were abused so they didn't dare speak of it."
She realised when she wasn't allowed to see her kids she had to get out.
"I did not want my kids to live that way. I couldn't handle it anymore."
Her father, who was on the FBI's most wanted list, would try to psychologically break her down by trying to make her feel less than he was, but she knew she was better.
The longer she was away from it, the more aware she became of how crazy the situation was, Jeffs said.
"I am so happy to be free and so happy my kids can live a normal life."
She described her childhood as a happy time with her many brothers and sisters but at the same time she had to block out the abuse.
"I tried to pretend it didn't happen. It was a way for me to carry on and live."
Writing the book was therapy, a healing experience while being very difficult.
Life was easy now she was out of the church, she said. She was grateful for her freedom and the ability to do whatever she wanted to and needed to.
She believed that none of the members were happy because their lifestyle was restrictive and devoid of any fun.
"They are not happy, they think that is the way they earn salvation."
For anyone in a similar situation, Jeffs, who has since remarried, advised them to "believe you are strong enough to get out".