When King pressed Clary, 21, about the nature of her relationship with Kelly, she snapped.
"My parents told me to lie about my age, so when I first met Kelly, he thought I was 18", Clary said.
Kelly's defense attorney, Steve Greenberg, has said the singer never knowingly had sex with anyone who was underage.
"Both our parents are basically out here trying to get money and scam, because they didn't agree on what happened, you know, with music or whatever it could be".
The parents deny ever receiving or even asking Kelly for money. She also said her parents had threatened to leak naked photos of her unless Kelly sent them tens of thousands of dollars.
On Wednesday, the Savage family spoke to their daughter by phone in a conversation that was recorded on video and released on Facebook.
They said they were both "in a relationship" with Kelly and that they are not being held captive. "I think one day years from now, everybody will look back and say it's very sad, very tawdry, and just very, very ugly".
The charges against Kelly and his interview with King followed the January debut of Lifetime's Surviving R. Kelly docuseries.More news: James Woods Goes After 'Captain Marvel' On Twitter Ahead Of Release
It was first teased Tuesday night and aired in part Wednesday morning.
Kelly was behind bars again Wednesday after a child support hearing in which he was ordered to pay his ex-wife Andrea "Drea" Kelly the $161,000 he owes her, the Cook County Sherriff's Office confirmed to PEOPLE.
Supporters are working to get Kelly out of jail by next week, publicist Darrell Johnson told reporters.
During the interview, Kelly insisted he was innocent, telling King he was being "buried alive" and "assassinated".
"I did worry at some points that he might accidentally hit me, because he was so angry that he was flailing", she said.
"I just wanted to say - as a mother - get your things, let's go", she admitted afterward.
Detectives in Detroit are looking into the new allegation against the embattled R&B star, who is facing 10 counts of aggravated sexual abuse in Chicago, according to CBS 2. "The incident allegedly occurred in the City of Detroit when the victim was 13 years old". He was tried on child pornography charges in 2008 and found not guilty.
The singer said "a lot of it" is on him in terms of his finances, but he denied that his money had been drained by out-of-court settlements over allegations of sexual misconduct.