On Tuesday night, Kelly took to social for the first time since Jan. 1 to wish his daughter, Joann Kelly, a happy 21st birthday. Kelly has two other children -- Jay, 19, and Robert, 17 -- with his ex-wife, Andrea Lee.
After singing a rendition of "Happy Birthday," Kelly continued his video by expressing his love for his daughter. "Happy birthday, baby. Daddy love you. I love you, no matter what. I love you so much. Bye. Happy birthday."
The clip ended with Kelly blowing a kiss at the camera. "Family for life," he captioned the post.
The unexpected interruption to Kelly's social media silence comes in the wake of multiple allegations of sexual abuse and inappropriate encounters with girls and young women. Kelly has previously been accused of such actions, but renewed attention to the allegations came with the release of Lifetime's Surviving R. Kellydocuseries. Kelly has repeatedly denied all accusations.
The R&B singer turned himself in on Feb. 22 after being charged with 10 counts of aggravated criminal and sexual abuse in Cook County, Illinois, before being released three days later. Just over a week after his release, Kelly was detained again, this time for failing to pay $161,663 in child support. An anonymous person paid the cash to secure his release on March 9.
"I'm really not really fighting for my career here. I'm fighting for my rights and I'm fighting to have a relationship with my kids, most of all, more than anything," he said. "I want a relationship with my kids because I have missed a lot of years of their life. They love me. I love them."
Kelly said that he'd "bet his breath" that his children want to have a relationship with him, "but they're pressured and I get it. They're pressured, so I get it. But I believe that's gonna change in due time."
"How can I pay child support? How? If my ex-wife is destroying my name and I can't work? How can I work? How can I get paid? How can I take care of my kids? How? Use your common sense," he said through sobs and screams.
"Your ex-wife says you abused her, Robert," King said.
"Lie!" Kelly yelled, before detailing his marriage proposal to Lee and further denying the abuse allegations. In Surviving R. Kelly, Lee claimed that she went to the National Domestic Violence Awareness Hotline and, on a 17-question survey, "there was only two things on that list that Robert hadn't done to me."
"She's not telling the truth," he said. "I love her to death. I have nothing against her still. That is my kids' mother... I'm not disrespecting her by saying she's not telling the truth, I'm just being honest.
In the lifetime docuseries #SurvivingRKelly, his ex-wife Andrea described a tumultuous and sometimes dangerous relationship.
"Somebody sent me something on my phone and it said that I hogtied her. I don't know how to hogtie people! Why would I hogtie her?" he continued. "My kids is listening to this, all of this nonsense and I ain't been able to spend no time with them. This is real. This is not a lie. What kind of women would tear down a dad who's trying to have a relationship with their kids? You know how many kids need a relationship with their father?"
"Somebody sent me something on my phone and it said that I hogtied her. I don't know how to hogtie people. Why would I hogtie her? My kids is listening to this, all of this nonsense and I ain't been able to spend no time with them. This is real. This is not a lie" -- @RKellypic.twitter.com/mhar8up4YJ
CHICAGO - DECEMBER 20: Embattled R and B singer R. Kelly (C) heads to court December 20, 2002 in Chicago, Illinois. Kelly faces 21 counts of child pornography stemming from a videotape that surfaced, allegedly depicting the singer having sex with a minor. (Photo by Scott Olson/Getty Images)
R. Kelly performs at The United Center in his hometown, Chicago. 05/15/99 (Photo by James Crump/WireImage)
R. Kelly (Photo by SGranitz/WireImage)
NEW YORK - JUNE 10: American recording artist, songwriter, record producer and former professional basketball player R. Kelly doing a signing on June 10, 1992 at the BMG Distribution Conference Room in New York City. (Photo by Waring Abbott/Getty Images)
Singer, R. Kelly on stage during a concert at the Arrowhead Pond of Anaheim. (Photo by Don Bartletti/Los Angeles Times via Getty Images)
NETHERLANDS - APRIL 01: Photo of R KELLY (Photo by Paul Bergen/Redferns)
NETHERLANDS - APRIL 01: Photo of R KELLY (Photo by Paul Bergen/Redferns)
8 Feb 2002: Singer R. Kelly performs at the Opening Ceremony of the Salt Lake City Winter Olympic Games at the Rice-Eccles Olympic Stadium in Salt Lake City, Utah. DIGITAL IMAGE. Mandatory Credit: Jed Jacobsohn/Getty Images
BARTOW, FL - JUNE 6: Florida attorney Diane Buerger (R) argues for bail for R&B singer R. Kelly (L) at the Polk County Courthouse on June 6, 2002 in Bartow, Florida. Judge Karla Wright decided on $750,000 bail and Kelly waived extradition and will be sent back to Illinois. (Photo by George McGinn/Getty Images)
ROSEMOUNT, IL - SEPTEMBER 25: (FILE PHOTO) Singer R. Kelly performs at the Rosemont Horizon on September 25, 1994 in Rosemont, IL. R. Kelly, was arrested on a warrant alleging 12 counts of possession of child pornography on January 22, 2003 in Miami, FL. (Photo by Tim Boyle/Getty Images)
DADE COUNTY, FL - JANUARY 22: Singer R. Kelly is shown in this police handout photo January 22, 2003 at the Dade County Jail, Florida. Kelly was arrested on charges of child pornography after police found pictures of Kelly engaging in a sex act with an underage girl. Kelly is currently facing child pornography charges in Illinois for a separate incident. (Photo by Dade County Jail/Getty Images)
OAKLAND, CA - AUGUST 15: R. Kelly performs as part of his 2003 Summer tour at the Oakland Arena August 15, 2003 in Oakland, California. R. Kelly is currently touring the U.S. promoting his 'Chocolate Factory' release. (Photo by Tim Mosenfelder/Getty Images)
SANTA MONICA, CA - NOVEMBER 20: Singer R. Kelly performs on stage at the Vibe Awards: Beats, Style, Flavor at the Santa Monica Civic Center, November 20, 2003 in Santa Monica, California. (Photo by Vince Bucci/Getty Images) The VIBE Awards air November 21, 2003, on UPN.
LOS ANGELES - NOVEMBER 21: Singer R. Kelly (R) and guest attend the game between the Los Angeles Lakers and the Chicago Bulls on November 21, 2003 at the Staples Center in Los Angeles, California. (Photo by Vince Bucci/Getty Images)
LAS VEGAS - DECEMBER 10: Singer R. Kelly performs onstage during the 2003 Billboard Music Awards at the MGM Grand Garden Arena December 10, 2003 in Las Vegas, Nevada. The 14th annual ceremony airs live tonight on FOX 8:00-10:00 PM ET Live/PT. (Photo by Kevin Winter/Getty Images)
LOS ANGELES - FEBRUARY 8: Singer R. Kelly arrives at the 46th Annual Grammy Awards held at the Staples Center on February 8, 2004 in Los Angeles, California. (Photo by Kevin Winter/Getty Images)
HOLLYWOOD - FEBRUARY 8: Singer R. Kelly and guest attend the BMG Post-Grammy Party following the 46th Annual Grammy Awards at the Avalon on February 8, 2004 in Hollywood, California. (Photo by Vince Bucci/Getty Images)
LOS ANGELES, CA - MARCH 20: Singer R. Kelly performs at the '18th Annual Soul Train Music Awards' at the Scottish Rite Auditorium on March 20, 2004 in Los Angeles, California. (Photo by Kevin Winter/Getty Images)
ROSEMONT, IL - SEPTEMBER 29: Singer R. Kelly performs during the 'Best of Both Worlds' tour with Jay-Z on September 29, 2004 at the Allstate Arena in Rosemont, Illinois. (Photo by Frank Micelotta/Getty Images)
NEW YORK - OCTOBER 29: Singer R. Kelly performs on the 'Best of Both Worlds' tour with Jay-Z October 29, 2004 at Madison Square Garden in New York City. (Photo by Frank Micelotta/Getty Images)
MIAMI - AUGUST 28: Singer R. Kelly arrives at the 2005 MTV Video Music Awards at the American Airlines Arena on August 28, 2005 in Miami, Florida. (Photo by Getty Images/Getty Images)
PASADENA, CA - MARCH 04: Singer R. Kelly accepts the Stevie Wonder Award with Stevie Wonder (R) presenting onstage at the 20th Annual Soul Train Music Awards at the Pasadena Civic Auditorium on March 4, 2006 in Pasadena, California. (Photo by Vince Bucci/Getty Images)
NEW YORK - AUGUST 15: Singer R. Kelly attends the premiere of Chapters 13-22 of 'Trapped In The Closet' at the IFC Center, August 15, 2007 in New York City. (Photo by Evan Agostini/Getty Images)
CHICAGO - OCTOBER 11: Soul singer R. Kelly and rapper Beanie Sigel pose during the making of Sigel's music video for his single, 'All Of The Above' at the Sofitel Hotel in Chicago, Illinois on October 11, 2007. (Photo by Raymond Boyd/Michael Ochs Archives/Getty Images)
LOS ANGELES, CA - NOVEMBER 05: Singer/songwriter R. Kelly performs at the Nokia Theatre L.A. Live on November 5, 2009 in Los Angeles, California. (Photo by Dr. Billy Ingram/WireImage)
LATE NIGHT WITH JIMMY FALLON -- Episode 355 -- Pictured: Musical guest R. Kelly performs on December 6, 2010 (Photo by Lloyd Bishop/NBC/NBCU Photo Bank via Getty Images)