Now, she's opening up about her new life of freedom in her second memoir, aptly titled Freedom: My Book of Firsts, Simon & Schuster announced on Tuesday.
Dugard was kidnapped in 1991 by Phillip and Nancy Garrido when she was 11 years old. She was held for 18 years in lean-tos and tents behind the couple's home in Antioch, California.
Freedom, which is set for publication on July 12, will highlight the "joys that accompanied [Dugard's] newfound freedom and the challenges of adjusting to life on her own."
Nick Ut / AP
"There is life after something tragic happens," Dugard said, according to a press release. "Life doesn't have to end if you don't want it to. It's all in how you look at it. Somehow, I still believe that we each hold the key to our own happiness and you have to grab it where you can in whatever form it might take."
The 35-year-old previously detailed her experiences in her first book, A Stolen Life: A Memoir, which was released in 2011, also on July 12.
The mother of two children, both born to her captor, Dugard was rescued in in August 2009 after stopping at a Concord, California, parole office with the Garridos. Phillip was later sentenced to 431 years in prison for the kidnapping and years of sexual assaults. Nancy was sentenced to 36 years.
VIDEO: 'You Will Never Find Him': A Mother’s Chilling Vow After Kidnapping Son and Killing Herself
Back in 2012, Dugard said she now appreciates "just being free to do what I want to do, when I want to do it."
She added of her daughters, "I want my girls to have a normal life as much as possible."
"Jaycee Dugard is a remarkable woman," Jonathan Karp, publisher of Simon & Schuster, said on Monday. "Her strength has been an inspiration to millions, and her story is a remarkable example of resilience and spirit. Readers of this book will gain a new appreciation of how joyful freedom can be."
Freedom: My Book of Firsts will be available in hardcover, ebook, and audio editions on July 12.