"In the eyes of the law, because it was child pornography, I shouldn't have contact with anyone under 18, including my own kids," he explained, adding that he hadn't seen his two sons in four years.
When asked if he ever felt tempted to repeat his offense, Cunningham said he could resist it.
"Some people can't. Some can. Me, myself, I feel, will I ever put myself in that situation again?" he asked. "Knowing the consequences, no, I wouldn't."
Most of the nearby families with children moved away after their new neighbors moved in. A mother of three, Tara White said when sex offenders began living in the area, she packed up and moved her family 40 minutes away.
"I don't want to be around those types of people," she said. "Not with my kids. Not with my mom. Not with me."
There are more than 700,000 registered sex offenders in the United States, according to the National Center for Missing and Exploited Children 2010 survey.
In "miracle village," local law enforcement constantly patrol the neighborhood and check up on registered offenders, who are new to the area.
Sgt. Mark Jolly heads the Palm Beach County Sheriff Office's Sexual Offender Tracking Unit, and part of his job is to knock on doors of sexual predators moving into the village. Jolly said while families might not feel comfortable having sex offenders on their block, Witherow's community offers an advantage for his unit.
"If you are talking to someone who lives in close proximity to this, they would probably tell you ... they don't want it in their backyards," Jolly said. "Now if you are looking at it from a law enforcement and a parole, probation standpoint, yes, it is something that is easier for us to monitor, control."
Witherow said he doesn't mind the patrols as long as they are conducted humanely.
Witherow has much in common with many of his wards. Like Rodney Thompson, Witherow received a lung cancer diagnosis last month. About 50 years ago, he was also almost charged with statutory rape.
At the time, Witherow had gotten his then 14-year-old girlfriend pregnant. The two went before a judge to be married, and when the judge found out their ages, he threatened to charge Witherow with statutory rape, a sentence that could bring up to 25 years in prison.
"I should have had more morals and more sense as an 18-year-old to have sex with a 14-year-old, OK? But it goes on all the time." Witherow said.
The judge instead decided not to charge Witherow and allowed the two to marry. His girlfriend later died, and he eventually met Maggie.
The Witherows embrace the registered sex offenders who live in their colony, even though Maggie said both she and the pastor had been molested as children.
"Fondled ... when I was 4," Maggie said. "When Dick and I were married, it took us five years to learn to live together because he had been molested too."
Despite their past, the Witherows believe in offering kindness to sex offenders instead of harboring resentment.
"They are people that God made, and they need a place to live, and they need another chance," she said. "I just want to cry sometimes. What's happened to them in their background."
Witherow said that providing this safe haven was his form of missionary work.
"They've got issues, they've got hurts, they've got pains, they've got addiction problems," the pastor said. "Most of us have come from dysfunctional families, and so, Jesus is the one who sets the captives free."