The couple said they have not spoken to their 23-year-old daughter for two years and asked Kelly to make her available to talk to them.
Before she added, "There are people all over the world who have multiple girlfriends". If my ex-wife is destroying my name and I can't work.
In 2002 Kelly was indicted on 13 counts of child pornography, but was acquitted of all charges in 2008.
When King pressed Clary, 21, about the nature of her relationship with Kelly, she snapped.
CBS This Morning showed the second instalment of its interview with the embattled singer, who faces sexual abuse charges and is in jail after saying he could not afford to pay $161,000 (€143,000) that he owes in child support.
The woman said she was assaulted at a hotel in 2001 and had an abusive relationship with R. Kelly for years. "I'm not, I'm your child", she said through tears. They say Kelly has brainwashed their daughters and that Clary and Savage have exhibited signs of Stockholm syndrome. The parents of the two women also deny they sold their daughters to him.
He and the girl allegedly seen with him denied they were in the 27-minute video, even though the picture quality was good and witnesses testified it was them.
Two women whose families have complained that Kelly is controlling them spoke to King about their relationship with the singer. You guys believe in some fking facade that our parents are saying. "I'm fighting for my fucking life!" The families of Clary and Savage have denied ever asking Kelly for money. I'm going to ruin you, I'm going to ruin him.
In January, Lady Gaga came forward to stand with the survivors and apologize for collaborating with Kelly on "Do What U Want" from 2013's Artpop. Clary and Savage are Kelly's girlfriends who live with him in Trump Tower.
In a shocking interview on USA news show CBS This Morning, Kelly - real name Robert Sylvester Kelly - defended himself in his first televised interview since he was arrested on child sex abuse charges.
R Kelly is facing the worse time of his life as he is facing the law in a series of arrests with the latest being his detention at the Cook County jail for failing to pay child support of $161,000, a felony in IL.
Kelly called the newly-minted Oscar victor "a very great talent", but added it's "unfortunate that her intelligence go [sic] to such a short level when it comes to that".
"I said, well let [Joycelyn] sing", Kelly said. "If I was gonna take my 19-year-old daughter to [a concert of] a 49-year-old icon, celebrity, whatever, I'm not gonna put her on the stage and leave her". "I wouldn't look him in the eye because he's a liar".