Crawford's memoir detailing the two's relationship will be released November 12, 2019.

Ahead of the release of her memoir, Robyn Crawford has spoken about her friendship and romantic relationship with the late Whitney Houston.

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Crawford, who will be releasing her book, A Song For You: My Life with Whitney Houston, spoke with People about how her and Houston first met and how their relationship evolved over time.

The two met as counselors at an East Orange, New Jersey summer camp, and from there they grew close.

"We wanted to be together," Crawford said. "And that meant just us."

Houston ended the physical part of their relationship soon after she signed a record deal with Clive Davis at Arista. In her memoir, Crawford recounts the moment, writing: "She said we shouldn't be physical anymore, because it would make our journey even more difficult."

"She said if people find out about us, they would use this against us," Crawford told People. "and back in the '80s that's how it felt."

"I kept it safe. I found comfort in my silence," she added.

Elsewhere in the book, Crawford writes: "We never talked about labels, like lesbian or gay. We just lived our lives and I hoped it could go on that way forever."

"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," Crawford told People.

A Song For You: My Life with Whitney Houston drops on November 12, 2019.

Source: People