Robyn Crawford is opening up about her relationship with Whitney Houston in her new memoir A Song For You: My Life with Whitney Houston.

In the tell-all publication, Crawford writes that she and Houston fell in love the first summer they met in 1980. Crawford was 19 and the singer was about to turn 17, and they were both counselors at a summer camp in East Orange, New Jersey. “We wanted to be together and it was just us…. The physical part of our friendship happened along the way and it was just as beautiful,” she says. “We were on a journey together and and we were connected.”

After a few years and many milestone moments, Houston made it known that she had to distance herself from the situation as the relationship would make the icon’s career path much more difficult in a time when the partnership was not as accepted. They still stood by each other throughout the years, although they did not continue publicly.

Of writing the memoir, Crawford said, “I wanted to lift her legacy, give her respect and share the story of who she was before the fame, and in that, to embrace our friendship.” Find A Song For You: My Life with Whitney Houston here.

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