Whitney Houston’s BFF Robyn Crawford Speaks on Camera About Their Romance

Whitney Houston’s best friend, confidante, and former assistant Robyn Crawford is sharing her truth!

Robyn sat down for her first TV interview with “Today’s” Craig Melvin to promote her book “A Song for You: My Life with Whitney Houston.”

During their “Dateline” interview, Crawford revealed that she and Whitney started getting “physical” before Houston became a star. She said, “It was during that first summer that we met, was the first time our lips touched. And it wasn't anything planned, it just happened. And it felt wonderful. And then, not long after that, we spent the night together. And that evening was the night that we touched. And that just brought us closer.”

In “A Song for You: My Life with Whitney Houston,” Crawford reflects on their first kiss. In an excerpt obtained by People magazine, she writes, “We talked and talked. And then all of a sudden, we were face to face. The first kiss was long and slow, like honey. As we eased out of it, my nerves shot up and my heart beat furiously. Something was happening between us.”

The book also details the first time they got intimate. She wrote, “One day, Whitney and I were spending time together and she whispered, ‘We’re spending the night at Larry’s.’ At the apartment we took off our clothes and for the first time, we touched each other. Caressing her and loving her felt like a dream.”

They met as teens when they were camp counselors, years before Whitney shot to fame. She told Craig, “We were intimate on many levels, and all I can say was that it was very deep and we were very connected. Our friendship was a deep friendship. In the early part of that friendship, it was physical."

After Whitney signed a record deal with Clive Davis in 1983, Whitney ended the physical aspect of their relationship. Robyn explained, “She said, 'I don't believe we should be physical anymore.’ The music business was a world that we were learning and we didn't want anything to interfere with where she was going."

When asked if she was sad when Houston broke it off physically, Crawford said, “I just felt that I wouldn't be losing much. I still loved her the same and she loved me and that was good enough.”

As for why she waited years to tell her story, Robyn commented, “I never envisioned speaking publicly about my life and then I asked myself the question, 'What would Whitney want? Would she understand you know, the time is now?' I watched her [Houston] rise to the top of her game and I felt compelled to share who that woman was behind all the fame."

Crawford also weighed in on those who doubt her story, saying, “Some people may feel that way. Hopefully they won't."

Crawford’s full “Dateline” interview airs Saturday, November 9, at 9/8c, she will also join NBC News’ "Today" for her first live interview on Monday, November 11.