The charges include one count of engaging in prostitution with a person under 18 years of age and one count of hiring a person under 18 years of age for sexual purposes, Hennepin County Attorney Mike Freeman said.
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The charges stem from allegations on an incident that took place in July 2001. Freeman said the victim "was attempting to obtain an autograph at City Center in Minneapolis, which Kelly gave to her along with a phone number."
When she called Kelly, she was directed to go to his hotel, where she was met by a member of his staff and "ushered up to a hotel suite."
Kelly then allegedly offered her to take her clothes off for $200 and dance for him. Freeman says she accepted the money, got naked and proceeded to dance, with "sexual contact" occurring during the incident.
The investigation started when a victim called a tip phone line setup by Cook County State's Attorney Kim Foxx, a Cook County States's Attorney's office spokesperson said.
R. Kelly is currently in custody in New York charged with other underage sex crimes.
Previous coverage:
R. Kelly crisis manager stepping down
R. Kelly held without bond following Tuesday's arraignment on federal sex crime charges
HHearing in R. Kelly case to be held Tuesday after singer charged with federal sex crimes
R. Kelly appears in court on federal sex crime charges
R. Kelly arrested by NYPD in Chicago on federal sex crime charges including child pornography, obstruction of justice
R. Kelly accused of paying off alleged victim in 2008 trial
R. Kelly pleads not guilty to new sexual assault charges
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