During the segment, they reveal that they have their moments when they go to the movies and amusement parks together, yet took offense to King's question on whether they were in a three-way sexual relationship with Kelly.
"I just knew that I was never in danger", she said. King received praise from her colleagues for keeping her cool as she "remained tough and calm" throughout the experience, but Norah O'Donnell said she was "worried" about her when she "saw the pictures".
"You guys are believing some fucking façade that our parents are saying".
At one point Kelly jumped to his feet and shouted to the camera, pounding his breast. Savage agreed, adding, "Everything that she says is true".
She denied that she had sex with Kelly when she was 17, something Kelly also said he "absolutely" did not do, "although her parents wanted [her] to". "Is that what you're saying to us?" asked King.
"Once he started yelling, it really got to me because it brought back memories that I didn't want to bring back up", McGee said. All because that's the world we live in.
In the docuseries "Surviving R. Kelly", Clary's parents said she pushed them to allow her to work with Kelly in the music industry. His bond was ultimately posted by a 47-year-old woman by the name of Valencia Love, who identified herself as a "friend" of Kelly's in court documents, according to The Chicago Sun Times.
To the contrary, Clary told King, she attempted suicide because of pressure to become a performer.
In a press conference on Wednesday, Joycelyn's parents also rejected Kelly's claim.
Asked about their age by King, Kelly replied, "I don't look at "much younger" than me, I just look at 'legal'".
"Just use your common sense", Kelly said.
Wednesday's arrest came hours after CBS television aired parts of Kelly's first interview since being charged, in which the singer tearfully and angrily rejected allegations that he had sex with underage girls.
Kelly said those lies include that he's holding women against their will and that he has a "cult".
His attorney entered not guilty pleas in that case for him, and on CBS, Kelly demonstratively maintained he is innocent.
Kelly has denied the charges, and his attorney, Steve Greenberg, has said his client is innocent.
It was the first time R. Kelly spoke publicly since his arrest on 10 counts of criminal sexual abuse.