Fred Warmbier, Hyesook, Hyeon-a, Hyeon-seo, and Ji Seong-ho were invited to South Korea by Mr Pence to share how persecution by North Korea has affected them.
Ji Seong-ho shared with the group how a Bible got her in trouble with the government back in 1998.
She said: "I'm a Christian, and when I was in North Korea, I came across a Bible.
"And because I read the Bible, I was taken by the national security agency, and as a result, I decided to escape North Korea. Afterwards, I made three more attempts, but every time I was forced to be sent back to North Korea. I was successful on my fourth attempt."
She added that during her attempt to escape North Korea, she was trafficked by a human trafficker and got pregnant.
"Because I got pregnant outside of North Korea, when I was repatriated to North Korea, I was forced to abort my baby without any anaesthetics," she said.
"I spent some time in prison camp. And it was only 2007; finally, I was able to escape North Korea and was able to come to South Korea. It took 10 years for me to be able to do so."
Karen & I were honored to meet w/ victims of the oppressive North Korean regime. We heard the harrowing stories of defectors who risked life & limb for freedom, & from Fred Warmbier, father of the late Otto Warmbier. We admire their resilience. #VPinASIA pic.twitter.com/90kUlGSXG7
— Vice President Mike Pence (@VP) February 9, 2018
After hearing four stories which Mr Pence described "harrowing", Fred Warmbier expressed his appreciation for the defectors' resilience.
He said: "It's hard, evil is hard to accept. And I've experienced evil, and you have too. And I just feel so much love and warmth for you all. And I just can't tell you how proud I am to be here with you."
Last year US President Donald Trump challenged North Korea's official line concerning the death of Otto Warmbier.
The 22-year-old spent more than a year in detention after being sentenced for 15 years behind bars for allegedly trying to steal a propaganda poster from a hotel to take to his church.
Following Otto Warmbier's death in September 2017, Mr Trump tweeted that the student was "tortured beyond belief" during his time in detention.
Mr Pence thanked the group for their courage.
He added: "As President Trump has said, the cruel dictatorship of North Korea is little more than a prison state.
"And as these people and their lives have testified, it is a regime that imprisons, tortures, and impoverishes its citizens. And I can assure you that your witness of that truth today will be heard across the world. And we thank you for your courage, and we look forward to discussing — discussing it further."
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