"I prayed a lot and trusted that the leadership over there knew what they were doing," Jessen's mother, Gale Jessen, told "GMA." "I trust them with my life and my child's life."
The campers from Iowa, Nebraska and South Dakota, aged 13 to 18, and 25 staff members were attending a weeklong leadership training program at the camp which is described as a high adventure camp.
"We deal with tornadoes and they go through tornado drills when they're out at camp, and they have predesignated areas, low spots to go to," said scoutmaster Bruce Van Zuiden.
Rescue workers had to chop their way through downed branches to reach the camp.
At least 42 of the injured remain hospitalized with injuries ranging from cuts and bruises to major head trauma, according to Gene Meyer, Iowa's public safety commissioner.
Tornadoes also killed at least two people in northern Kansas, one found in a yard and another found outside a mobile home.
The twister destroyed much of the small town of Chapman, damaging the town's three schools and ripping part of the roof off the high school gymnasium. It also caused extensive damage on the Kansas State University campus, tossing cars and damaging buildings.
Ashely Phillips and The Associated Press contributed to this report.