Runescape private servers are private servers where players can play the browser MMO with a select few. Sometimes the servers will have mods added to them which make gameplay different.
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There are 100's of Runescape private servers that work in the moparscape client. On the moparscape website they have a list of servers that are currently online. You go to one of the most used/popular servers and download it - change the servername and port on the client and you should be good to go.
No they're perfectly legal.
For private server Look on Runelocus.
Some might.
Google.