An inquest into the deaths of a mother and her three children who were set on fire by their estranged father has revealed the tragic last words of the mother.

Hannah Clarke, 31, was preparing her three children, Aaliyah, six, Laianah, four, and Trey, three, for school when they were ambushed by Rowan Baxter.

He got into the car she was driving to school in Brisbane, Australia, before telling Ms Clarke, “I wanted to see my children” and telling her to “get out.”

Despite having burns on 97 percent of her body, Hannah summoned the courage to tell paramedics and police what had happened.

An inquest heard Hannah tell Stephanie Ring, the first paramedic on the scene: “My babies are in the car, as are my children. Why didn’t I just stay with them in the car?”

Baxter, 42, then committed suicide after burning the mother and three children to death.

Before launching the heinous attack, he had previously rejected an offer to share custody of his three children with Hannah.

On Boxing Day last year, Baxter allegedly kidnapped his six-year-old daughter, allowing Ms Clarke to obtain a domestic violence order (DVO) against him.

Hannah was described as “incredibly strong” by a neighbour on the first day of the inquest as she tried to stop Baxter’s attack and save her children.

“Call the police, he’s trying to kill me, he’s put petrol on me,” the neighbour said she heard her scream.

CCTV footage also showed Baxter purchasing the jerry can used in the attack at a DIY store, according to 9NEWS.

It was discovered that in the months leading up to her death, she had been subjected to increasing levels of violence and coercive control.

The inquest will also hear from counsellors and police officers who assisted Hannah during the breakdown of her marriage, as well as a support worker who took a call from Baxter 16 hours before he killed his family in 2020.

Lloyd and Sue Clarke, Hannah’s parents, have since dedicated their lives to preventing domestic abuse and raising awareness.

“Rowan must have been lurking somewhere close, either around the side of the house or in the neighbor’s driveway,” Mr Clarke told the Daily Mail Australia.

“His car was discovered down the street; this was clearly planned.”

“They were young, vibrant… beautiful people… she loved her children,” they said of their grandchildren.