A 20-year-old Southend club dancer, kidnapped by her former boyfriend, was raped and threatened with a flick knife, Basildon Crown Court heard.
David Jaggers, 36, of Tilbury, Essex, admitted rape, making threats to kill, false imprisonment and kidnap.
Jaggers, who was jailed for six years 16 years ago for killing a girlfriend, was jailed for life on Friday.
The judge said Jaggers, who was described as evil and disturbed, should serve a minimum of six years.
John Dodd, prosecuting, told the court that the dancer was kidnapped after visiting Jaggers to tell him that their relationship was over.
He said Jaggers, who was then living in Southend, held her prisoner in a van and drove her from Southend to Ely in Cambridgeshire before dropping her near her home in Southend.
The woman had told detectives: "I have never feared for my life as much as I did then." The couple had spent one night in a lay-by and stayed in a Travelodge hotel in Ely.
The court was told that after releasing the woman, Jaggers had told a friend: "I have got to kill myself because I am evil. I have needed help since I was 17 but I have never got it."
The court heard 16 years ago Jaggers had been cleared of murder but convicted of manslaughter after strangling his girlfriend Helen Mitchell, 23, in South Ockenden, Essex.
The judge said Jaggers, who had a "quite appalling" childhood was obviously a very disturbed man and ordered that he remains on licence for life.
Jaggers was arrested by armed police six hours after releasing the woman.
Jaggers said later that he had been hoping police would shoot him.