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Suspected migrants were spotted in the back of a lorry on Saturday afternoon.
Kent Police responded to a report at 1.34pm that children were travelling in the back of a heavy goods vehicle on the M25, close to the exit for junction 2.
Officers attended the scene and arrested two adults and three children, believed to be Iranian, on suspicion of entering the UK illegally.
The family of five was passed onto immigration officers for interview and are now being dealt with by the Home Office.
A spokesperson has said: "The family group from Iran have made immigration applications and these will now be considered in line with immigration rules."