An Auckland serial rapist has been cleared of a kidnapping almost 20 years later after an investigation by the Criminal Cases Review Commission

A woman was getting into her car in Epsom in April 2006 when a knife wielding man jumped into her passenger seat and ordered her to drive, or her family would be killed.

Open Justice reports she managed to escape at a traffic light.

Frankie Te Uira Edwards pleaded guilty in July 2006 - despite not matching the description.

While a court says no one can explain why he pleaded guilty, he simultaneously admitted responsibility for other crimes - including multiple rapes, before going on to deny the kidnapping.