R. Kelly had been charged with sexual crimes involving an underage girl while in Minnesota.
Hennepin County Attorney Mike Freeman announced the charges against the artist, who has also been charged with underage sex crimes in other jurisdictions, at a press conference on Monday.
Kelly is charged with two counts, one of engaging in prostitution with an individual under 18 years of age, and one for hiring or offering to hire for sexual purposes with a person under 18.
The event occurred in July 2001, Freeman said, with the victim older than 16 but younger than 18 at the time.
He says she was attempting to obtain an autograph in downtown Minneapolis, which Kelly gave to her along with a phone number.
When she called him she was directed to go to his hotel, where she was met by a member of his staff and "ushered up to a hotel suite."
Kelly offered her $200 to take her clothes off and dance before him. She accepted it, he got naked and they proceeded to dance, with "sexual contact" occurring during this encounter.
After the encounter, he gave the girl VIP tickets to his show in Minneapolis.
R. Kelly is currently in custody in New York, where he is accused of being involved in a "racketeering enterprise" whereby he recruited women and girls for illegal sexual encounters.
Freeman notes that it's not clear when Kelly will be able to come to Minnesota to answer the charge, given the federal charges he's facing in New York.