Here’s all you need to know…
The new six-part series, made for America’s Lifetime network, looks into the allegations of physical and sexual abuse made against the singer.
Both his brothers, Bruce Kelly and Casey Kelly, appear in the show to talk about their famous sibling.
Bruce was seen giving his interview from behind bars and viewers wanted to know why he was in prison.
He’s serving time for a string of offences including burglary, probation violation and drug possession.
The most recent conviction stems from a 2016 burglary which left him facing two to four years behind bars at Vandalia Correctional Centre in Illinois.
The other charges date back as far as 2015 and also include criminal trespass and driving without a licence.
US reports suggest he’s expected to be released by the end of the year.
In Bruce’s interview, he appeared to defend his brother’s sexual history with underage girls.
He said: “You have people who have fantasies about different things…
“I like older women, go figure, you know. But that’s just a preference. Everyone has preferences. So what is the big deal? What is the big issue with my brother?”
“Me and my brothers, we all have our ways with our girls.
“We’re very jealous guys. We don’t want our girls doing certain things, (you’re) not going to see our girls talking too much to people, that’s just the way we are.”
It was not just R. Kelly ‘s family members who were interviewed for the show.
Others who faced the cameras included his ex-girlfriend Kitti Jones and ex-wife Andrea Kelly, talk show host Wendy Williams and singer John Legend.