After months of remaining in contact, Rodgers says that Kelly flew her to NY for one of his concerts.
She noted that R Kelly asked her how old she was, and that when she answered, he said, "You can tell Daddy if you're 16, you know".
In recent years, as more women have come forward to allege misconduct, protests against Kelly have increased.
She also alleges in an interview with BBC Three that the first time they had sex it was "non-permissive, painful and abusive" and that he infected her with herpes without her knowing. He then forced himself on her in the hotel, and initiated both oral and vaginal sex.
Rodgers believes Kelly was priming her to join a group of women she says he lives and travels with.
A #MuteRKelly movement was launched in 2017 after allegations of alleged sexual slavery and assault were made against the singer. The singer has consistently denied any wrongdoing. In a Washington Post article in April, a representative for Kelly said the singer "categorically denies all claims and allegations".
Charlotte and George steal the show as royal kids complete memorable day
George's Chapel, her true shining moment came while looking out the window of the vehicle when she arrived at the ceremony. She also wore a flower crown and Aquazurra shoes, which were monogrammed and dated, as a gift from Meghan .
On May 10, streaming service Spotify said it had removed the singer's music from its editorial playlists. After a number of months, he arranged for her to fly out to meet him in NY, where he "initiated unwanted sexual contact" in a hotel room. "I love you because you remind me of them'".
"It was rough. It hurt", she says. "I was devastated", she says.
"He goes on to tell me that he raises five women. He was demanding that I do stuff on camera that I wasn't comfortable doing whatsoever".
That case was settled out of court - as was a suit brought in 2001 by former Epic Records intern Tracy Sampson, who claimed she began a sexual relationship with the singer when she was 17. She refused to sign it. The singer filed suit against bosses at Comcast Spectacor a year ago (17), accusing them of breach of contract over a show at the Macon Coliseum in February, 2017.
She describes some members of R Kelly's inner circle as "puppets" who have been brainwashed.
"He comes over and he starts, like, rubbing the side of my face", she said of what happened after they had sex.