Four adult siblings have filed a lawsuit against the estate of Michael Jackson, accusing the late pop star of child sex trafficking and long-term abuse when they were minors.

In a complaint filed Feb. 27, siblings Edward, Dominic, Marie-Nicole and Aldo Cascio allege that Jackson groomed and manipulated them over the course of more than a decade. According to the 23-page filing, they claim he used his fame, wealth and network of employees to isolate them, provide them with drugs and alcohol and sexually abuse them in multiple locations around the world.

Jackson, who died in 2009 at age 50, is described in the lawsuit as a “serial child predator” who allegedly began abusing some of the siblings when they were as young as 7 or 8 years old.

The Cascio family says they first met Jackson in the 1980s through their father, who worked at a luxury New York hotel where the singer frequently stayed. Over time, they claim, Jackson grew close to the family, showering the children with attention, gifts and affection before allegedly separating them from other adults and abusing them individually.

The complaint alleges that the abuse took place at various locations, including during Jackson’s world tours, at Neverland Ranch in California, at the family’s home in New Jersey and even during international travel stops.

In a statement to PEOPLE, attorney Marty Singer, who represents the Jackson estate, denied the allegations and called the lawsuit “a desperate money grab.”

Singer said members of the Cascio family publicly defended Jackson for decades and pointed to past interviews and statements in which they praised him. He also claimed the family previously threatened to go public with accusations unless the estate paid large sums of money.

The lawsuit comes shortly after the siblings appeared in a Beverly Hills courthouse regarding what they described as an “unlawful agreement to silence victims of childhood sexual abuse.” A follow-up hearing is scheduled for early March.

In a recent interview with the Daily Mail, Aldo Cascio, now 35, detailed allegations that he says began when he was 7 years old. He described an incident in which he claims Jackson assaulted him while he was playing a video game.

“He would train me to say no to any authority and the police,” Aldo alleged, claiming Jackson told him their relationship was an expression of love and that outsiders would not understand.

Aldo also claimed Jackson drank heavily and gave him Xanax, describing a side of the singer he called “a creepy monster.”

Marie-Nicole Cascio alleged Jackson also abused her years later, including during a period when he reportedly stayed with the family for months following the 9/11 attacks. She claimed he normalized nudity and instructed her to remove her clothes.

The complaint outlines numerous alleged incidents across several states and countries, including New York, Florida, Las Vegas, France, South Africa and Bahrain.

Aldo said the alleged abuse left him battling emotional trauma for years. When Jackson died in 2009, Aldo said he felt a complicated mix of emotions, including relief.

“I also had to act sad,” he said in the interview. “Why did he do this to me? I hated him and knew I couldn’t free myself of it.”

The Jackson estate continues to deny the allegations.

If you or someone you know has experienced sexual abuse, you can text “STRENGTH” to 741-741 to connect with a certified crisis counselor. If you suspect child abuse, call the Childhelp National Child Abuse Hotline at 1-800-422-4453 or visit childhelp.org for confidential support.

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