See Where Chelsea O'Donnell Stayed After Leaving Rosie's Home

Comedian Rosie O'Donnell adopted Chelsea with her then-wife in 1997.

When Chelsea O'Donnell left Rosie O'Donnell's home this summer, she ended up at her birth mom's Wisconsin home for six days.

There, her biological mother Deanna Micoley had painted a bedroom blue for Chelsea - "her favorite color," she told INSIDE EDITION as she gave her a tour of the home.

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

Deanna drove 1,000 miles to collect Chelsea from New Jersey after the 18-year-old left Rosie's New York home in August. An image shows them embracing tightly for the first time in nearly 18 years.

"[I] told her I loved her and that I was so glad she found me after all this time," Deanna said. "I just always wanted her and I'm so happy she's part of my life now."

The teenager stayed with Deanna and her family, including her three sons and 14-year-old daughter.

Their Wisconsin town is a far cry from Chelsea's glamorous upbringing of red carpets and celebrities. But Deanna says those aren't the things that make a child.

"Where's the hugs and the love and the cuddling and tucking them in at night and singing them songs?" she said. "That's what the kids really like."

But their reunion was short lived, as Chelsea left after just six days.

Deanna says Rosie then taunted her with a text message that read: "She stayed 6 days - Bravo u."

Back in 1997, Rosie O'Donnell adopted Chelsea with her then-wife Kelli Carpenter. Rosie says the adoption was carried out through a respectable agency and was legal and proper.

But Deanna, who was just 19 when she gave birth to Chelsea, told INSIDE EDITION that her ex-husband drugged her and forced her to sign the adoption papers.

Chelsea's biological dad denies Deanna's claims.

"All I can say is that is absolutely false," he told INSIDE EDITION. "Shame on anyone who would listen to lies."

Read: Rosie O'Donnell Slams Elisabeth Hasselbeck For Asking: Why Isn't 'Black Lives Matter' a Hate Group?

The adoption papers, obtained by INSIDE EDITION, show the termination of parental rights and surrender custody of Chelsea. They were signed by Deanna.

Chelsea made contact with her birth mother last year through Facebook.

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."

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