A videotape given to prosecutors in his current case purports to show Kelly having sex with a girl who repeatedly says she's 14.
"If you can't see that you're ignorant and you're stupid", she said.
The anonymous victim says she was visiting her mother in Detroit when she came into contact with a friend who was also the Pied Piper's assistant at the time.
She claims there were several encounters with R. Kelly at his Atlanta home and that the singer gave her herpes when she was 17 years old.
In Kelly's case, he and his attorney might have decided they had nothing to lose after the Lifetime series, said Fred Thiagarajah, a prominent Newport Beach, Calif., attorney and former prosecutor. "Yes. And they said, because if they ever have to blackmail him - what they're trying to do now - they can use it against him, which is exactly what they're doing", replied Clary.
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The full uncut interview with Kelly is scheduled to air on Friday night on CBS.
Kelly who blamed people going back to the past to ruin his career said these allegations are affecting his relationship with his children.
"So many people have been stealing my money", he said.
At this point, Kelly stood up, pounding his fist and beating his chest as he declared: "Are you all trying to kill me?" "I don't think Robert is re-programmable", Wendy said about the rapper whose real name is Robert Kelly, before she deemed Kelly's situation as "horrible".
"How can I pay child support? How?" If my ex-wife is destroying my name and I can't work? "When I was 17, my parents were trying to make me take photos with him, take sexual videos with him".
Kelly then accused the women's parents of attempting to profit of their daughters.
R. Kelly / CBS Good Morning Interview: A Portrait Of Toxic Masculinity
As Kelly grew more emotional, the interview had to be stopped so he could regain his composure with the help of a publicist. Kelly beat his chest, "Y'all trying to kill me". "Have you broken any laws when it comes to women?" asked King.
Savage described what they have with the 52-year-old as "a very strong relationship", while Clary added, "We all are a family, all together". If convicted R. Kelly could spend up to 70 years in prison.
Kelly told King he has done quite a few things wrong in relationships but said he has apologized to women for those.
In 2002 Kelly was indicted on 13 counts of child pornography, but was acquitted of all charges in 2008.
R. Kelly is blaming scorned women and social media for his latest troubles.
"Quit playing, quit playing", he said, becoming tearful. In the candid sit-down Kelly was overcome with emotion and burst into tears as he continued to deny the sexual abuse allegations against him. The attorneys for both families have said they have never asked for or received any money from Kelly. "I would never share with no one what I do in or outside of the bedroom".
Kelly insisted he needed help.
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Savage and Clary are not believed to be among the four women Kelly has been charged with sexually assaulting.