Bobby Brown says Whitney Houston was bisexual and had a relationship with Robyn Crawford

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After years of rumors and gossip, Bobby Brown confirmed that yes, Whitney Houston was in a same-sex relationship with her best friend, Robyn Crawford.

In his new memoir, Every Little Step: My Story, Bobby writes about his late ex-wife's drug use and his attempts to save daughter Bobbi Kristina, among other revelations, and in an accompanying interview with Us Magazine, he claims he knew Whitney was bisexual.

See images of Whitney Houston through the years:

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Whitney Houston through the years
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Bobby Brown says Whitney Houston was bisexual and had a relationship with Robyn Crawford
Rising star Whitney Houston is seen with music producer Clive Davis, in 1983, shortly after signing a contract with Arista Records. (AP Photo)
Singer Whitney Houston photographed in February 1982 when she was a senior in high school (her first session with a professional photographer). (Photo by Jack Mitchell/Getty Images)
Donald Trump, Whitney Houston, and Cissy Houston posing for a group photo, San Francisco, California, 1980. (Photo by Clarence Gatson/Gado/Getty Images)
Singer Whitney Houston photographed in February 1982 when she was a senior in high school (her first session with a professional photographer). (Photo by Jack Mitchell/Getty Images)
NEW YORK - 1984: Pop singer Whitney Houston performing in 1984 in New York, New York. (Photo by Michael Ochs Archives/Getty Images)
NEW YORK, NY - 1985: (L-R) American singer Whitney Houston with President of Arista Records Clive Davis at an event to celebrate Whitney's debut album 'Whitney Houston' receiving a multi-platinum sales award in 1985 in New York City. (Photo by Peter Carrette Archive/Getty Images)
American singer Whitney Houston (1963 - 2012) in concert, circa 1986. (Photo by Dave Hogan/Getty Images)
LOS ANGELES - FEBRUARY 1986: Singer Whitney Houston at Grammy Awards in February 1986 in Los Angeles, California. (Photo by Michael Ochs Archives/Getty Images)
BOSTON - JULY 29: Whitney Houston in concert on July 29, 1986, on Boston Common. (Photo by Keith Jenkins/The Boston Globe via Getty Images)
Whitney Houston and Cissy Houston (Photo by Larry Busacca/WireImage)
American singer Whitney Houston (1963 - 2012), circa 1987. (Photo by Dave Hogan/Getty Images)
CHAMPAIGN, IL - NOVEMBER 1987: Singer Whitney Houston performs at the Assembly Hall at the University Of Illinois at Urbana-Champaign in Champaign, Illinois in NOVEMBER 1987. (Photo By Raymond Boyd/Michael Ochs Archives/Getty Images)
LOS ANGELES - JANUARY 25: Singer Whitney Houston, mother Cissy Houston and half-brother Gary Garland attend the 15th annual American Music Awards on January 25, 1988 at Shrine Auditorium in Los Angeles, California. (Photo by Ron Galella, Ltd./WireImage)
FRANCE - MAY 18: Whitney Houston Performs In Paris Bercy On May 18th, 1988 In Paris,France (Photo by Frederic REGLAIN/Gamma-Rapho via Getty Images)
LAS VEGAS - FEBRUARY 25: Singer Whitney Houston and mother Cissy Houston attend the Frank Bruno vs. Mike Tyson Heavyweight Boxing Match on February 25, 1989 at the Las Vegas Hilton in Las Vegas, Nevada. (Photo by Ron Galella, Ltd./WireImage)
BEVERLY HILLS, CA - NOVEMBER 15: Singer Whitney Houston and comedian/actor Eddie Murphy attend the United Negro College Fund's 10th Annual 'Lou Rawls Parade of Stars' Telethon Kick-Off Party on November 15, 1989 at L'Ermitage in Beverly Hills, California. (Photo by Ron Galella, Ltd./WireImage)
NEW YORK CITY - MAY 30: Singer Whitney Houston attends the 21st Annual Songwriters Hall of Fame Induction Ceremony and Awards Dinner on May 30, 1990 at the Marriott Marquis Hotel in New York City. (Photo by Ron Galella, Ltd./WireImage)
Whitney Houston (Photo by Larry Busacca/WireImage)
THE TONIGHT SHOW STARRING JOHNNY CARSON -- Pictured: (l-r) Singer Whitney Houston, guest host Jay Leno on December 11, 1990 (Photo by Gary Null/NBC/NBCU Photo Bank via Getty Images)
TAMPA, FL - 1991: Singer and actress Whitney Houston sings the National Anthem at the 1991 Tampa, Florida, Superbowl XXV. Houston's rendition of the National Anthem was particularly inspiring due to the fact that Superbowl XXV (25) was held as the first Gulf War began.(Photo by George Rose/Getty Images)
TINLEY PARK, IL - JUNE 1991: Singer Whitney Houston performs at the World Music Theater in Tinley Park, Illinois in JUNE 1991. (Photo By Raymond Boyd/Michael Ochs Archives/Getty Images)
PROVIDENCE - JULY 17: Whitney Houston in concert on July 17, 1991. (Photo by Lane Turner/The Boston Globe via Getty Images)
(EXCLUSIVE, Premium Rates Apply) Whitney Houston and Bobby Brown (Photo by L. Cohen/WireImage)
American singer Whitney Houston (1963 - 2012) watches a World Cup soccer match, 1994. (Photo by Archive Photos/Getty Images)
Whitney Houston (Photo by Jim Smeal/WireImage)
American singer and actress Whitney Houston (1963 - 2012) stars with Denzel Washington in the film 'The Preacher's Wife', 1996. (Photo by Fotos International/Getty Images)
Whitney Houston performs on stage in 1996. (Photo by Phil Dent/Redferns)
Whitney Houston, Sängerin, Auftritt, Mikrophon, Promis, Prominente, Prominenter, (Photo by Peter Bischoff/Getty Images)
UNITED STATES - JUNE 12: Whitney Houston is joined by her husband, singer Bobby Brown, at ceremonies in East Orange, N.J., where the Franklin School was renamed the Whitney E. Houston Academy of Creative and Performing Arts. (Photo by Richard Corkery/NY Daily News Archive via Getty Images)
PARIS, FRANCE -JULY 6: Whitney Houston performing at Paris Bercy concert hall on June 6, 1998 in Paris, France. (Photo by Alain BENAINOUS/Gamma-Keystone via Getty Images)
Whitney Houston and Bobby Brown (Photo by Barry King/WireImage)
NEW YORK CITY - NOVEMBER 30: Arista Records president Clive Davis and singer Whitney Houston attend amfAR's First Annual Season of Hope Awards to Honor Clive Davis, Tom Hanks and Barbara Walters on November 30, 1998 at the World Financial Center in New York City. (Photo by Ron Galella, Ltd./WireImage)
UNITED KINGDOM - FEBRUARY 16: BRIT AWARDS, LONDON ARENA Photo of Whitney HOUSTON, Whitney Houston performing on stage (Photo by JMEnternational/Redferns)
Whitney Houston and Mary J. Blige perform at VH1 Divas Conert at Beacon Theater. (Photo By: Richard Corkery/NY Daily News via Getty Images)
Whitney Houston, Whitney Houston (Photo by Brian Rasic/Getty Images)
Bobby Brown & Whitney Houston (Photo by KMazur/WireImage)
Whitney Houston (Photo by Jim Smeal/WireImage)
Whitney Houston (Photo by Kevin Kane/WireImage)
Whitney Houston and Mary J. Blige perform on the 'VH1 Divas Las Vegas', a concert to benefit the VH1 Save the Music Foundation, at the MGM Grand Garden Arena in Las Vegas, 5/23/02. Photo by Frank Micelotta/ImageDirect
NEW YORK - DECEMBER 8: Musician Whitney Houston performs live for an NBC show December 8, 2002 at Lincoln Center in New York City. (Photo by Mark Mainz/Getty Images)
LAS VEGAS - MAY 22: Singers Whitney Houston and husband Bobby Brown attend the VH1 Divas Duets post concert party to benefit the VH1 Save the Music Foundation held at the MGM Grand Garden Arena on May 22, 2003 in Las Vegas, Nevada. (Photo by Frazer Harrison/Getty Images)
JERUSALEM - MAY 27: Israeli Prime Minister Ariel Sharon (R) welcomes singer Whitney Houston (L) and her husband/singer, Bobby Brown (C), at the prime minister's residence May 27, 2003 in Jerusalem, Israel. Houston is on a private tour of Israel. (Photo by Quique Kierszenbaum/Getty Images)
LAS VEGAS, NV ? SEPTEMBER 15: Singer Whitney Houston is seen performing on stage during the 2004 World Music Awards at the Thomas and Mack Center on September 15, 2004 in Las Vegas, Nevada. (Photo by Kevin Winter/Getty Images)
LOS ANGELES - OCTOBER 26: Singer-actress Whitney Houston onstage during the taping of '25 Strong: The BET Silver Anniversary Celebration' at The Shrine auditorium in Los Angeles, California. The event highlighted 25 years of programming on Black Entertainment Television. (Photo by Vince Bucci/Getty Images)
Usher, Clive Davis and Whitney Houston (Photo by M. Caulfield/WireImage)
US singer Whitney Houston performs on May 24 , 2008 in Rabat during the closing concert in the Mawazine 7th festival held in Rabat. AFP PHOTO/ABDELHAK SENNA (Photo credit should read ABDELHAK SENNA/AFP/Getty Images)
BEVERLY HILLS, CA - FEBRUARY 07: Whitney Houston performs at the 2009 GRAMMY Salute To Industry Icons honoring Clive Davis at the Beverly Hilton Hotel on February 7, 2009 in Beverly Hills, California. (Photo by Lester Cohen/WireImage)
LOS ANGELES, CA - FEBRUARY 08: Singer Whitney Houston onstage at the 51st Annual GRAMMY Awards held at the Staples Center on February 8, 2009 in Los Angeles, California. (Photo by Lester Cohen/WireImage)
NEW YORK - SEPTEMBER 01: Diane Sawyer, Whitney Houston and Robin Roberts perform on ABC's 'Good Morning America' on September 1, 2009 in New York City. (Photo by Larry Busacca/Getty Images)
LOS ANGELES, CA - NOVEMBER 22: Singer Whitney Houston accepts the Winner of International - Favorite Artist Award onstage at the 2009 American Music Awards at Nokia Theatre L.A. Live on November 22, 2009 in Los Angeles, California. (Photo by Kevork Djansezian/Getty Images)
MOSCOW - DECEMBER 9: Singer Whitney Houston performs on stage at Olympisky Sports Complex on December 9, 2009 in Moscow, Russia. Moscow is the first city in her world-wide 2009-2010 tour. (Photo by Epsilon/Getty Images)
SYDNEY, AUSTRALIA - FEBRUARY 24: Whitney Houston performs on stage at Acer Arena on February 24, 2010 in Sydney, Australia. (Photo by Don Arnold/WireImage)
BEVERLY HILLS, CA - FEBRUARY 12: Whitney Houston and daughter Bobbi Kristina Brown arrive at the Clive Davis and The Recording Acedemy's Annual Pre-Grammy Gala held at the Beverly Hilton Hotel on February 12, 2011 in Beverly Hills, California. (Photo by Gregg DeGuire/FilmMagic)
Singer Whitney Houston performs at the 2011 Clive Davis Pre–Grammy Gala and Salute to Industry Icons Honoring David Geffen at the Beverly Hilton. (Photo by Gina Ferazzi/Los Angeles Times via Getty Images)
HOLLYWOOD, CA - FEBRUARY 09: Whitney Houston and Kelly Price share the stage at the Kelly Price & Friends Unplugged: For The Love Of R&B GRAMMY Party at Tru Hollywood on February 9, 2012 in Hollywood, California. (Photo by Gabriel Olsen/FilmMagic)
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"I know," he told the magazine when asked about Whitney's relationship with Robyn. "We were married for 14 years. There are some things we talked about that were personal to us."

Of her sexuality, Bobby added, "I'm a man and she was attracted to me!"

WATCH: Bobby Brown Addresses Whitney Houston's Infamous 'Crack is Whack' Interview, Says He 'Should Have Been Better' As a Parent

Whitney and Robyn met as teenagers in New Jersey and romance rumors followed the two for years as Robyn worked as Whitney's assistant and later, creative director. According to Bobby, those rumors were true all along.

"I really feel that if Robyn was accepted into Whitney's life, Whitney would still be alive today," he said. "She didn't have close friends with her anymore."

The former New Edition singer also claimed that Whitney's mother, Cissy Houston, never approved of the same-sex relationship and tried to have Robyn fired.

In her own memoir, Remembering Whitney, Cissy wrote that she never knew if Whitney and Robyn's relationship was anything more than platonic, but revealed during a 2013 episode of Oprah's Next Chapter that she "absolutely" would have had a problem with her daughter being gay.

MORE: Angela Bassett On Whitney Houston Lesbian Rumors: 'It's However the Audience Sees It'

For her part, Robyn never confirmed the relationship, even after Whitney's death in 2012.

"I have never spoken about her until now. And she knew I wouldn't. She was a loyal friend, and she knew I was never going to be disloyal to her. I was never going to betray her," she wrote in an in memoriam piece in Esquire.

"Now I can't believe that I'm never going to hug her or hear her laughter again," Robyn continued. "I loved her laughter, and that's what I miss most, that's what I miss already."

Bobby also recently opened up about doing drugs with Whitney on their wedding night and whether he was ever abusive towards her. Hear what he said in the video below.

RELATED: Notable figures we lost in 2016:

17 PHOTOS
Notable people we lost in 2016 (deaths)
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Bobby Brown says Whitney Houston was bisexual and had a relationship with Robyn Crawford

January 1 -- Former U.S. Sen. Dale Bumpers, D-Ark., seen here in 2006, passed away at the age of 90. Bumpers' signature moment on the national stage came in 1999, just weeks after leaving the Senate, when he defended Pres. Bill Clinton — who had worked for a challenger's 1974 campaign — before the U.S. Senate during his impeachment trial.

(AP Photo/Danny Johnston)

January 4 -- Robert Stigwood, manager of the Bee Gees and Cream.

(Photo by Michael Putland/Getty Images)

January 4 -- Country singer Craig Strickland was found dead at age 29 from hypothermia.

(Photo via Instagram)

January 6 -- Pat Harrington, Jr., actor in 'One Day at a Time,' died at 86 from complications from Alzheimer's disease.

(Photo by CBS via Getty Images)

January 11 -- Singer David Bowie died after battling cancer for 18 months. He was 69.

(AP Photo/Marty Lederhandler, FIle)

January 14 -- Actor Alan Rickman, popular for playing Professor Snape in the 'Harry Potter' films, died at 69 after battling cancer.

(Photo by Mike Pont/WireImage)

January 18 -- Glenn Frey, founding member of The Eagles, died at age 67 due to complications from multiple ailments.

(Photo by Tommaso Boddi/WireImage)

January 29 -- Paul Kantner, guitarist, vocalist and founding member of the band Jefferson Airplane, passed away at age 74 of multiple organ failure following a heart attack.

(AP Photo/Shawn Baldwin, File)

February 2 -- Jibri Bryan, #34, of the Mercer Bears was killed in a shooting at age 23.

(Photo by Streeter Lecka/Getty Images)

February 4 -- Maurice White, founder of Earth, Wind & Fire, died from the effects of Parkinson's disease at age 74.

(Photo by Richard E. Aaron/Redferns)

February 4 -- Astronaut Edgar D. Mitchell, the sixth person to walk on the moon, passed away at 85 under hospice care.

(Photo via NASA)

February 13 -- United States Supreme Court justice, Antonin Scalia.

(AP Photo/Haraz N. Ghanbari)

February 19 -- Author of the beloved novel To Kill A Mockingbird, Harper Lee.

(AP Photo, File)

March 9 -- Beatles producer Sir George Martin passed away at age 90, as announced by Ringo Starr on Twitter.

(Photo by Vince Bucci/Getty Images)

March 16 -- Singer Frank Sinatra Jr.

(Photo by Express/Express/Getty Images)

March 24 -- Comedian Garry Shandling at age 66. 

(AP Photo/Chris Carlson, File)

March 29 -- Oscar winning actress Patty Duke, at the age of 69.

(Photo by ABC Photo Archives/ABC via Getty Images) 
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