Fiery legislator Millie Odhiambo has revisited a 2014 incident where two MPs assaulted and undressed her in Parliament.

She was speaking to Dr Kingori of the Wicked Edition. The incident made headlines.

"It was during the security law amendment bill, we were fighting, what you were told is 'Milly was undressed' when what actually happened is, I was beaten by men and undressed by men. But what did you believe? That I undressed, myself," Millie said.

They were stopping us from reaching the speaker. Moses Kuria hit me here, thoroughly," Milly said pointing at her forehead.

"But I said even if he has hit me I will still reach the speaker. I turned my back on them. I noticed there is something holding me back. Two men [MPs] were pulling my dress up when I tried pulling it down, they kept pulling it up. When he tried to go forward I couldn't."

She continued, "One [of the MPs] was pulling my panty till they cut it. It is only fortunate it was designer wear. If not there would have been bigger problems. Imagine if I wasn't prepared with designer wear?

Using her many years of expertise as a human rights advocate, Millie managed the situation by taking back her power in a bid to manoeuvre the assault.

"Them undressing me, they were taking power away from me. So I took the power away from them by trashing what they did."

Here is Millie calling out the MPs who assaulted her in Parliament.