Jason London, Jeremy London

Michael Bezjian/WireImage

Jeremy London's bizarre tale of being kidnapped at gunpoint and forced to smoke crack has his family worried.

The actor's twin brother Jason and mom Debbie Nielsen say in an exclusive interview with E! News' Ken Baker, airing Friday at 7 p.m., that more than anything they're concerned about Jeremy, who told E! in April that he had successfully kicked an addiction to prescription meds and was seven months' sober.

"There have been times we've had hope [he has remained clean]," says Jason. "We are very concerned for him. This is his family's cry for help."

"I don't want him to be another statistic," added Nielsen, whose daughter (and the twins' sister) Dedra died in a car accident when she was 16. "I don't want to bury another child."

Jeremy's rep told E! News today that the former 7th Heaven star was safe after a harrowing ordeal in Palm Springs last week, when he was reportedly held hostage for 12 hours by two men who forced him to smoke dope and purchase alcohol for people in a gang-infested portion of the city.

Suspect Brandon Adams, 26, has pleaded not guilty to five felony counts, including kidnapping and carjacking.

Jeremy's family are hoping their once fallen son uses this opportunity—whatever really happened—to "get the help he needs."

"We love Jeremy very, very much," Jason says. "He's lost. You're 40, grow up. Learn from the mistakes you've made."

Catch the full interview with Jeremy's family exclusively on E! News, Friday at 7 p.m. & 11:30 p.m.

(Originally published June 17, 2010, at 6:30 p.m. PT)

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Tune into E! News on Friday, June 18, at 7 p.m. & 11:30 p.m. for the complete interview with Jeremy London's family.

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