During the tearful interview, they dismissed claims by their parents that they have been brainwashed, with Clary calling her father a "manipulative liar".
CBS said it interviewed Kelly for 80 minutes.More news: Captain Marvel - Movie Review - Captain Marvel Review
In an excerpt that aired Tuesday night, Kelly told King that allegations of him having sex with and abusing underage girls were "not true", calling them "rumors".
Clary also broke down in tears. She just did her best to let Kelly say what he had to. If it weren't for the gravity of the situation, R. Kelly ballistic "performance" during the Gayle King would have been repurposed as the new "crying Jordan meme" going forward.
The conversation between King and Kelly is his first TV interview since he was charged with sexual abuse last month.
"When I saw her on stage, nothing about her told me she sings", he said.More news: Michael Jackson's estate posts live concert footage during 'Leaving Neverland' TV premiere
The parents of both women said they are only concerned about the well-being of their daughters, not money, and that Kelly's behavior during the interview was disconcerting.
Attorney Gerald Griggs, who represents the Savage family, provided physical copies of receipts for flights and expenses to show the family never received money from Kelly. The singer said he believes social media is to blame for fueling the allegations against him.
They slammed their parents, who they say have gone public with their concerns to make money.
In the docuseries "Surviving R. Kelly", Clary's parents said she pushed them to allow her to work with Kelly in the music industry. The couple also said they have not spoken to their daughter for two years. If he doesn't send $20,000 to this bank account by Monday I'm going to put everything out there and then $10,000 after that.' You're trying to solicit me like I'm some f-ing h-. R. Kelly has denied all accusations of abuse. "But I know I don't have one". When King asked Kelly if he has held women against their will, he replied: "That's stupid!" His bond was ultimately posted by a 47-year-old woman by the name of Valencia Love, who identified herself as a "friend" of Kelly's in court documents, according to The Chicago Sun Times. "The incident allegedly occurred in the city of Detroit when the victim was 13 years old", Craig explains. "I just kept thinking "Okay, Robert, go ahead" and that's what I said".More news: Two girls missing from Benbow in Humboldt County
Kelly was indicted last month on 10 counts of aggravated criminal sexual abuse - a class 2 felony - involving four alleged victims. His defense attorney said at the time that Kelly's finances were "a mess".