Do we find out what happened when they went missing?

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Who is responsible for the disappearance and at least the putative reason for their abduction are revealed at the end of the first season. We do get some more information over the course of later seasons and there's one brief scene which takes place in the location where they were taken to

Unless Alpert's covered in bacon grease, I don't think Hugo can track anything.

I have the DVDs and admittedly have re watched the series many times. I recently wanted to watch it again just turned the series on in my Netflix streaming. I must say I am very disappointed in the music changes. I realize this probably has to do with licensing, but it really does make a difference! The original music was so perfect and even haunting! I think it made the first few episodes as great as they were. It's a shame that it had to be changed.