Two women are suing the Texas Department of Public Safety after state police subjected them to a humiliating and invasive "roadside body cavity search" using the same pair of gloves, all of which was captured on video.

In the video, female state trooper Kellie Helleson is seen aggressively searching the anus and vaginas of Angel Dobbs, 38, and her niece, Ashley Dobbs, 24, in front of passing cars, according to Dallas Morning News.

The women claim that Helleson used the same pair of latex gloves on both of them during the cavity search.

OHelleson and her colleague David Farrell had stopped the two women on State Highway 161 near the city Irving after Farrell saw that the women were "acting weird" and that one of them had thrown a cigarette butt out the window.

In the video, Farrell is heard questioning the women about marijuana. However, he later failed to find any evidence of the drug in their vehicle.

The lawsuit states that Farrell tried to "morph this situation into a DWI investigation," Dallas Morning News reports.

Angel had passed a roadside sobriety test, and the women were eventually let go after being given warnings for littering.

Angel says that she has "severe and continuing pain and discomfort" after Helleson had irritated an anal cyst she suffers from during the anal cavity search, according to the suit.

"Angel Dobbs was overwhelmed with emotion and a feeling of helplessness and reacted stating that Helleson had just violated her in a most horrific manner," the suit states.

The women are also suing the director the Texas Department of Public Safety, Steven McCraw, who they say had ignored their previous complaints about "unlawful strip searches, cavity searches and the like."

The women's attorney Scott H. Palmer called the appalling incident, which was recorded on the camera mounted on one of the trooper's car, a roadside "sexual assault".

He said Texas Rangers failed to take any action against the troopers after investigating his clients' complaints.

"You can see what's happening clearly," he said, according to the Dallas Morning News of the video. "No one's ever seen the likes of this. We can't let them get away with it."

The Dallas County District Attorney's Office is currently investigating the case, which will be heard before a grand jury in January 2013.