See the Moment Chelsea O'Donnell Reunited With Her Biological Mother After Nearly 18 Years

In an interview with INSIDE EDITION, Deanna Micoley recounted driving to the New Jersey house where the 18-year-old was found after leaving home.

The biological mother of Rosie O'Donnell’s daughter Chelsea is speaking about her reunion with the teenager this summer.

Read: Biological Mother Claims Rosie O'Donnell Took Her Baby Illegally

In an interview with INSIDE EDITION, Deanna Micoley said she drove to meet Chelsea after she left the comedian's home in August. A never-before-seen image shows Chelsea grinning as Deanna embraces her tightly during their first meeting in nearly 18 years.

"I just told her that I love her," Deanna said in the interview, which will air in full on Friday. She said she told the teenager: "I love you and I'm so glad that you found me."

Chelsea, now 18, was adopted by Rosie O'Donnell and her former wife, Kelli Carpenter, as a baby in 1997, but Deanna has previously said she never wanted to give up the child. She claims Chelsea's father drugged her and handed over the baby without her permission. Rosie says the adoption was legal and she did nothing wrong.

Then last year, Chelsea tracked down Deanna on Facebook. They exchanged messages but had never met.

"I just always wanted her and I'm so happy she's part of my life now," Deanna said. 

In August, Chelsea left Rosie O'Donnell's Nyack, New York home and the comedian posted a plea on social media for help finding her. She was found in Barnegat, New Jersey. After Chelsea turned 18, Deanna drove from Wisconsin to pick her up.

Chelsea and Deanna returned to Wisconsin, but the teen left her home after six days. Deanna says Rosie then taunted her with a text message that read: "She stayed 6 days - Bravo u."

Read: Biological Mom of Rosie O'Donnell's Daughter: 'I Want Her Home With Me'

Even though Deanna said Chelsea is not talking to her right now, she wants the teen to know she is always welcome in her home.

"I just want to be part of her life," she said. "I want to walk her down the aisle. I want to be there at her wedding. I want to be there when she has her first baby."

For more of Deanna's interview, tune in to INSIDE EDITION on Friday.

Watch Below: Rosie O'Donnell's Ex Fights for Custody: 'I'm Not Afraid of Rosie Anymore'