Both girls managed to scramble free and were treated at Alder Hey Children’s Hospital.
Their mother, who says she is on medication since the attack, said: “It reached into every corner of our family and left none of us the same.”
Earlier the parents of another girl caught up in the attack said it was preventable and urged a public inquiry to “expose the failures” that allowed it to happen.
The mother of child L said the knowledge that Rudakubana was “known to multiple agencies” is a “burden we carry every day”.
She said she hoped the inquiry would “shine a light into the darkest corners of the systems that failed”.
The mother of another girl who was stabbed but survived the attack, refered to as child C4, also gave evidence.
She said C4 now “spends her young life scanning her surroundings for danger” and that the once strong bond she had with her father is now damaged as their daughter finds it “difficult to trust men”.
Fighting back tears, the mother told the inquiry team how proud she is of her daughter and that “her finest qualities shone through in the darkest of moments”.
The inquiry continues.