Actress Vanessa Williams brought her mom as her date on Sunday to the Series Finale of ABC's 'Desperate Housewives.'

The Grammy, Emmy, and Tony Award–nominated singer, actress, dancer, and former Miss America and her mother wrote a new book, titled 'You Have No Idea: A Famous Daughter, Her No-nonsense Mother, and How They Survived Pageants, Hollywood, Love, Loss (and Each Other).' In the candid memoir, Vanessa also reveals some shocking secrets. One of which is that she was molested by an 18-year-old girl when she was just 10 years old, while they were on a family trip with friends.

"It was definitely a choice, because it didn't need to be [in the book]," Williams said of the incident. "It happened one night where she told me, 'come over here,'… I didn't know that it was wrong, but I knew that it wasn't right because I wasn't supposed to tell anybody."

Her mother, Helen, was recently interviewed by Forbes magazine to which she offered advice to parents: "My advice for parents is to hang in there, be fair and be firm and there is light at the end of the tunnel."

Pictured: Actress Vanessa Williams and mother Helen Williams arrive to the Series Finale of ABC's 'Desperate Housewives' at W Hollywood on April 29, 2012 in Hollywood, California. (Photo by Alberto E. Rodriguez/Getty Images)