The alleged victim, who is now 30, has claimed R. Kelly lured her to his Detroit hotel room for sex when she was just 13 years old in December 2001.
In a separate interview, two women who live with Kelly - Azriel Clary and Jocelyn Savage - have rejected allegations that they are being controlled by the musician.
Singer R. Kelly is heading back to jail, over his failure to pay over $160,000 in back child support.
Kelly's attorney did not immediately respond to a request for comment.
The 52-year-old singer was taken out the back of the courtroom at Chicago's Daley Center with his hands behind his back. Cook County prosecutors charged him in 2002 with child pornography, saying he made a sex tape with his teenage goddaughter, but a jury acquitted him in a sensational trial in 2008.
R. Kelly spent a few days behind bars last month after he was hit with 10 felonies for allegedly molesting three teenagers and an adult over the past 20 years.
At one point during the interview, Kelly angrily stands up and starts pacing, his voice breaking as he yells, "I didn't to this stuff! R Kelly took me to a black room where unspeakable things happened.' This is what they're saying about you", King said in another point during the conversation. During the sit-down, they both broke down in tears, with one vehemently blaming her parents for the narrative that is now surrounding the controversial star. You killing me, man! Despite her parents' allegations that R. Kelly has brainwashed her, the aspiring singer told TMZ in July 2017, "I'm 21..." Through their lawyer, Michael Avenatti, the Clarys stated: "We never received a penny from R. Kelly". Kelly continued emotionally, standing up. He has pleaded not guilty to 10 counts of aggravated sexual abuse.
I'd be 'very, very disappointed' if North Korea's rebuilding rocket site
In a statement, the two men described the move as part of a larger effort to make the Korean peninsula free from nuclear weapons. He said Kim demanded all sanctions on North Korea end at once in exchange for closing down the Yongbyon nuclear facility .
It is safe to say that it is the most shocking part of his interview and that says a lot given the circumstances!
"How stupid would it be for me with my insane past and what I've been through [to say], 'Oh right now, I just think I need to be a monster and hold girls against their will and chain them up in my basement?"
What about the emotional TV interview?
"Now I don't know if you're married, I don't know one might be older than the other, one might be younger than the other".
Kelly has been associated with accusations of abuse, manipulation and inappropriate encounters with girls and young women for more than two decades.