"He was guiding me and I thought I was walking to my death," Huskins told ABC News Anchor Amy Robach.
RELATED: Vallejo reaches tentative $2.5 million settlement in Denise Huskins kidnapping case
Vallejo Police called Huskins' kidnapping a hoax.
"This is only strange because the law enforcement made it strange," said Aaron Quinn.
In March of 2015 Muller broke into Aaron Quinn's home, blindfolded, drugged and bound the couple, before kidnapping Huskins.
"Either I'm going to hear a gunshot and that's it or I'm going to get pushed off a cliff," said Huskins.
TIMELINE: Denise Huskins, Matthew Muller Vallejo kidnapping case
Huskins says Muller raped her twice before releasing her in her hometown of Huntington Beach.
Her pain far from over. Later that same night, Vallejo police held a press conference blaming the victims.
"The fact that we've essentially wasted all of these resources for really nothing is really upsetting," said Lt. Kenny Park, a spokesperson with Vallejo Police Department during a March 25, 2015 press conference.
It was only when Muller left his cell phone behind after a Dublin home invasion three months later that investigators arrested him in South Lake Tahoe where they found evidence linking him to Huskins' kidnapping.
RELATED: Convicted Vallejo kidnapper could face new charges
"If they came out and said this is a kidnapping, followed the evidence, got Denise back, no one would be talking about Gone Girl or anything like that," said Quinn.
Muller pleaded guilty to federal charges. Last year, a judge sentenced him to 40 years.
Now the couple has settled their civil lawsuit against the city of Vallejo for $2.5 million .
"It's about reaching a number that compensates them, allows them to restart their life," said their attorney Frank Busch who is with Kerr & Wagstaffe LLP.
RELATED: Man who kidnapped Vallejo woman gets 40-year sentence
A Vallejo spokesperson says the city is not in possession of a signed settlement agreement and has no further comment. The couple's attorney says the agreement will be signed soon.
As for Quinn and Huskins, they plan to get married in the fall.
Watch the couple's full exclusive interview on "Good Morning America" on Monday, March 19.
Click here for more stories on the Denise Huskins and Aaron Quinn case.