He was convicted and sentenced to 50 years behind bars, but served only 11.
Now, Garrido stands accused of kidnapping Jaycee Lee Dugard and repeatedly raping her while keeping her captive for 18 years, during which Dugard bore two children authorities say are Garrido's.
On "The Early Show" Wednesday, Hall said she was "shocked" when she learned what police say Dugard went through.
"I was stunned," Hall told co-anchor Maggie Rodriguez. "I started shaking. ... I had some sense of relief, because he had finally been caught and he was going to be put away. But at the same time, I had overwhelming feelings of the fact that my fears (that he might strike again) had always been justified."
As details emerged of Dugard's ordeal, "I was horrified," Hall says. "I couldn't believe he went after a child. I could and I couldn't, because he went after an easier prey, but I thought it was horrible, absolutely horrible."
Hall's ordeal began when she gave Garrido a ride in her car. He overpowered her, took her to a warehouse, and raped her for eight hours before a police officer happened by.
"Survival instincts kicked in," Hall says. "I just had to be alert every second, every moment, I had to be aware of his frame of mind. I had to just figure out how to stay alive, how to connect with him on some kind of human level and make myself, you know, real to him, and not let him go off into a fantasy world."
Read more stories on the Dugard case on CBSNews.com:
Nancy Garrido Misses "Family," Lawyer Says
Witness: Jaycee's Kids Seemed Normal
Bone in Backyard: Is it Human?
Garrido Revealed Rape Fantasy in Testimony
Slideshow: Inside Jaycee Dugard's Terror Tent
Hall says she can't imagine the terror an 11-year-old girl must have felt, allegedly at Garrido's hands. "He snatched her. ... He had to talk his way into the situation with me. And then it was my decision, stupid decision to give him a ride."
Hall says Garrido actually approached her again after he was released from prison. "He never identified himself, but I recognized him," she told Rodriguez. "He came up to my roulette wheel (at her workplace in Lake Tahoe, Nev.) and, you know, very threateningly said, 'Hello, Katie,' and started asking probing questions about my history, about how I'd been dealing, how I'd been."
She called polilce.
Hall says she feels guilty that she may not have done enough to try to keep Garrido imprisoned.
What wouls she like to see now? "I want him put away forever, or I want him executed. And I know that's harsh, but I'm sorry, I wish he'd never gotten out."