The traffic stop happened more than a year ago but the women who were involved in it are just now opening up about their decision to take legal action.
It started with a weekend at Surfside during Memorial Day 2012.
"We had a good day at the beach," said one of the alleged victims, Alexandra Randle.
Brandy Hamilton was driving the car that was pulled over along Highway 288 for speeding by a DPS trooper.
"I was embarrassed, in a bikini, on the side of the freeway. And it hurts so bad to even go through something like that," Hamilton said.
The women have filed a lawsuit against DPS troopers and a Brazoria County sheriff's deputy at the stop. During the 40-minute video, a trooper says he smells marijuana in the car and continues to question the women and search the car.
There is an outstanding charge of drug possession. The women say they pleaded not guilty. Their lawsuit claims they were not "patted down." Instead, they were told to prepare for a cavity search. A female trooper was called in to perform it.
"One glove and that's it," Hamilton said.
"She just came right over and there was no switch out of anything, which is disgusting," Randle said.
The two friends have strong words to describe why they feel they were violated.
"I hate to say this word but this is exactly what happened to us, we were molested at the side of the road," Randle said.
Hamilton says she also witnessed the trooper answer her own phone while in the cruiser.
"It could have been my job or anyone could have called my phone and you are going to tell these people I'm in custody? In custody for what?" Hamilton said.
The female trooper has been terminated by DPS; the male trooper suspended pending the outcome of the investigation.
Brazoria County isn't commenting on the lawsuit.
The women say they still have a lot to say.
"If it was that serious and you felt I had something to hide or anything, you should have booked me in and then you had every right to do a cavity search on me," Hamilton said.
DPS Director Steven McCraw issued to the following statement about the incident to Eyewitness News:
"The department does not and will not tolerate any conduct that violates the U.S. and Texas constitutions, or DPS training or policy."