Dionne Warwick on 'GMA': 'Whitney Is in the Best Hands Now'

Grammy-winning singer Dionne Warwick spoke for the first time about her late cousin, Whitney Houston, on "Good Morning America" Thursday.

"I spoke to Whitney the day that she passed," Warwick revealed in her interview with "GMA" host Robin Roberts. "I spoke to her that morning." The 71-year-old said she told Houston she'd be joining the pop icon at Clive Davis' Grammy party later that evening.

Tragically, Houston was found dead in a bathroom at the Beverly Hilton Hotel, just hours before the pre-Grammy celebration.

"She was so up and ready and happy. She had everything in the world to live for," Warwick said of her cousin, adding, "She had a new film ("Sparkle") that was an absolute dream to make and do. She was getting ready to go back into the studio to record. She was getting her vocals together."

Warwick admitted that the death of Houston "hasn't really sunk in yet," but she takes comfort in the fact she believes Whitney is in "the best hands right now."

The "Walk on By" singer also told "GMA" that Houston's mother, gospel singer Cissy Houston, is "holding up so very well ... I think she's coming to terms with it just about now," and daughter Bobbi Kristina will have all their support. "That's the one thing I love about my family. We are family."