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Her attempted flight in 2018 was cut short, Sheikha Latifa said, when commandos stormed the yacht, threw her to the deck, zip-tied her as she tried to fight them off and injected her with tranquilizers. After she was taken back to Dubai by helicopter and private jet, she said, she was interrogated for two weeks and held in solitary confinement in a prison near the airport.

Some of the new videos were first published by the BBC on Tuesday. While they could not be independently verified, Mr. Haigh said in an interview that he had prepared them for release. Her family could not be reached for comment.

Before Tuesday, the only recent glimpse of Sheikha Latifa had come in December 2018, after she was brought back to Dubai. Her family released photos of her sitting uneasily with Mary Robinson, a former president of Ireland and former United Nations human rights commissioner.

Ms. Robinson said at the time that she believed the sheikha was mentally troubled and recovering in the care of her family. But she has now told the BBC that she felt she had been “tricked” when photographs of what she had assumed was a private lunch were made public.

Sheikha Latifa said in one of the videos that she had been coaxed into coming to lunch by Princess Haya, one of her father’s wives, but had not known who Ms. Robinson was, what the lunch was for, or why her stepmother insisted on taking a picture of her with Ms. Robinson. She only agreed “to be polite,” she said.

As for Ms. Robinson’s comments at the time, Sheikha Latifa said in one video that “statements about me being with my family or getting treatment or being in recovery is all a lie.”

Her family repeatedly insisted that she make what she called “propaganda,” she said.

“They wanted me to do a video and say that I’m here happily and voluntarily. And I refused,” she said in one video, according to a transcript.