The incident took place on Thursday when the two cousin sisters belonging to Meghwal community of Kudaliya village had gone for toilet in open, they said.
The matter was reported with police yesterday. Police have lodged a case under various sections in this connection against five persons, Station House Officer (SHO),Ramganjmandi police station Harshraj Singh said.
The minors were first raped repeatedly by two of the five accused, Ramesh and Raju Meena, at an isolated place, police said.
Later, three others, Suraj Musalman, Banti Gurjar and Bajranj Meghwal also joined them and took the girls to a nearby village on the same day and raped the two in a moving van, Singh said.
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The two girls informed their parents the next day who reached there and took the girls with them to police station yesterday in Ramganjmandi where on their report a case was lodged against the five under sections 376, POSCO and SC/ST Act, police added.
The five youths hail from the same village Kudaliya and have been detained for interrogation and the van in which the crime was committed was also seized, Singh said.
Medical examination of the victims has been conducted, he added.