Hours before the Wednesday's hearing, CBS aired an interview with the musician in which he denied those charges - his first public comments since being indicted last month.
R. Kelly performs during The Buffet Tour at Allstate Arena on May 7, 2016, in Chicago, Illinois. His next court date is March 13.
According to the Cook County Sheriff's Office, Kelly will remain in custody at the Cook County Jail until he pays the $161,663 he owes to his ex-wife.
In his explosive new interview with Gayle King, R. Kelly was very vocal about wanting a better relationship with his kids, all while he owes a whopping child support tab of almost $200,000.
He and the girl allegedly seen with him denied they were in the 27-minute video, even though the picture quality was good and witnesses testified it was them.
He spent a weekend in jail on the sex charges before being released on $100,000 bail on February 25.
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!"
Kelly also addressed a report by BuzzFeed in 2017 that said he had kept women as virtual sex slaves at homes he owns in Chicago and Atlanta. Last month he was arrested and charged with a list of sex charges, including the abuse of underage girls. In the interview, Kelly points to the camera and says it would be stupid of him to hold girls against their will.
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King talked about Sanders history fighting school segregation as a college student in Chicago and marching on Washington with Dr. Mr Sanders, a 77-year-old independent senator for Vermont, lost the 2016 Democrat race to Hillary Clinton .
"[I did] lots of things wrong when it comes to women but I apologized in those relationships", Kelly said. "We have never asked R. Kelly for money", they said.
Kelly has been associated with accusations of abuse, manipulation and inappropriate encounters with girls and young women for more than two decades.
Kelly left the courtroom with his lawyers on Wednesday through a different door than he had entered. He said he never sexually abused women or controlled their lives. The couple said they have not spoken to their 23-year-old daughter for two years and asked Kelly to make her available to talk to them. You tell me if it's normal.
And the "Ignition" singer insisted all his accusers and their families are lying and blamed the "power" of social media for destroying his reputation.
"Use your common sense".
While CBS reported that Azriel's parents claim to have text messages that prove Kelly had sex with their daughter before she turned 18, Kelly brushed it off as a lie.
"I don't need to".
Kelly was "happy" when he arrived for the hearing, not thinking he would be jailed, Johnson said.