UFO documentary about Joshua Tree encounter

Does anyone remember the documentary about the young married So Cal couple who borrowed their in-law’s RV for an overnight camping trip without their kids in Joshua Tree? I think it happened in the early 1980’s. They had set out for a campground the husband was familiar with and it was full when they got there. The husband had remembered another camping spot from his teen years and headed to it. His wife was apprehensive because it was farther and very isolated. They arrive to the new spot and it is surprisingly serene with a beautiful view of some mountains in the distance. They park, set up their bbq and camp chairs and begin to prepare a steak dinner. After dinner while watching the sky toward the mountains they spot what seemed like an unusual object in the sky. Soon they could see red “lights” dropping from the underside of the object toward the ground. The number of these red objects increased. Suddenly they were aware that these objects were on the ground and moving toward them. They thought that the U.S. was being invaded by Russia. They retreated to their RV and locked the doors and windows. They peek out the window curtains to see creatures surrounding their RV and then the creatures begin to try to enter it. A harrowing scene ensues that culminates in a gaseous substance being pumped into the RV from the ceiling vent and that is the last they remember until they “wake up” the next morning.

The story continues as they decide not to talk about it until the husband confides to a trusted friend. Somehow the friend hooks them up with a hypnotist who recovers lost memories of an abduction.

This story was included in one of the mystery/UFO shows in the late 90’s early 2000’s. I believe there was a documentary too. I thought it was called something like “Encounter in the Desert” or similar. Any help to locate the documentary or segment from a series would be much appreciated!