R. Kelly accuser speaks out: 'I didn't know if this was how adults acted'

A former intern is speaking out about allegations that R. Kelly sexually abused her as a teen.

"Dateline NBC" will air an interview Friday night with Tracy Sampson, who met Kelly when she was a 16-year-old intern for Epic Records in 1999.

Sampson alleged in a 2001 lawsuit that between May 2000 and March 2001, Kelly induced her "into an indecent sexual relationship," when she was 17, according to the Los Angeles Times. The suit was settled out of court for $250,000, according to a preview clip of the "Dateline NBC" expose, though Kelly denied having sex with Sampson when she was underage.

"Accused: The R. Kelly Story" will air on NBC Friday at 10 p.m. ET/PT, 9 p.m. CT.

The Kelly-focused segment comes on the heels of "Surviving R. Kelly," a six-part Lifetime docu-series that aired earlier this month and detailed decades of sexual misconduct allegations against the singer.

'Surviving R. Kelly' docu-series:

"I was in love with him. I just didn't know what to do," Sampson tells NBC News correspondent Andrea Canning in the preview clip. "I didn't know if this was normal. I didn't know if this was how adults acted. I just didn't know."

Sampson says Kelly asked if he could kiss her, and when she refused, he kissed her anyway.

The segment also includes an interview with Kelly's attorney, Steve Greenberg, who didn't represent the artist in the suit brought by Sampson, but he tells Canning that Kelly didn't do anything wrong when it comes to Sampson and other accusers. He asserts that all of the women who have come forward with allegations against Kelly are lying.

USA TODAY has reached out to Epic Records for comment on Sampson's story.

More: 'Surviving R. Kelly' reignites prosecutors' interest in Atlanta, Chicago

Related: Listeners are furious that 'Surviving R. Kelly' led to spike in sales, streams

This article originally appeared on USA TODAY: R. Kelly accuser speaks out: 'I didn't know if this was how adults acted'