Tracy Sampson, a woman who interned with Epic Records at 16, revealed she endured sexual relations with R. Kelly that summer of 1999.
Featured on Dateline NBC's "Accused: The R. Kelly Story," the now 36-year-old appears in her first on-camera interview where she details the relationship that began during her formative years.
Sampson said the singer asked her, "'Can I kiss you?' and I was like, 'No,'" to which he responded, "'Well, give me a hug.' And then, like, when I gave him a hug he just started kissing me."
"I was in love with him," she continued. "I just didn't know what to do. Like, I didn't know if this was normal. I didn't know if this is how adults acted."
Following the incident, Sampson filed a lawsuit against Kelly in 2002. Her suit was settled to the tune of $250,000.
Steven Greenberg, Kelly's current attorney, told NBC that he was not part of the artist's legal team when the alleged abuse took place but maintains that his client is innocent.
According to Greenberg, there is no evidence that proves Kelly, 52, engaged in sexual relations with underage girls "because it didn't happen." However, Surviving R. Kelly calls that statement into question with a six-episode program detailing the sexual and mental abuse endured by some women who met Kelly while underage. Lisa Van Allen, for instance, met the "Sex Me" singer at the age of 17.
NBC's take on the groundbreaking series comes just two weeks after the explosive Lifetime production. The special will air Friday (Jan. 18) at 10 pm EST.