Robyn Crawford Believes Whitney Houston's Daughter Bobbi Kristina Knew About Their Love Affair
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"I would hope that they had the mother-daughter conversation," Robyn shared in her new memoir.

Robyn Crawford said she believes Whitney Houston's daughter Bobbi Kristina knew about the pair's love affair.

In excerpts of her new memoir "A Song For You: My Life With Whitney Houston" obtained by People ahead of its release, Robyn opened up about her relationship with the late Grammy-winning singer, claiming they were romantically linked after meeting as camp counselors in New Jersey in 1980.

"We wanted to be together," wrote Robyn, "and that meant just us. We never talked about labels, like lesbian or gay. Whitney knows I loved her and I know she loved me. We really meant everything to each other. We vowed to stand by each other."

She also revealed details about her life with Whitney and Bobbi Kristina.

“I know how much that young girl loved her mother and needed her mother," wrote Robyn. "That was all she wanted, always, was her mother and now she was gone."

After Whitney passed away at the age of 48 in 2012, Robyn tried to get her phone number to Bobbi Kristina through mutual friends.

"I would have answered any questions she had, and I would have just listened," said Robyn. But they never connected.

In an awful tragedy, Bobbi Kristina died on July 26, 2015, after being found unresponsive in a bathtub and put into a medically induced coma for six months.

"I felt empty," Robyn said upon hearing the sad news. "I felt like she finally got her mom all to herself."

While Robyn cannot be sure of what Whitney told Bobbi Kristina about their relationship, she said, "I feel in my heart that Whitney told her daughter what kind of person I am and the depths of our friendship."

"That rumor -- the speculation of our being physical -- that rumor had track shoes so there's no way a young person wouldn't say, 'Mom tell me about this.' I don't know if Whitney shared that with her daughter, when she was old enough to understand and want to know," she said. "I would hope that they had the mother-daughter conversation."

Robyn added, "I believe that Whitney told her daughter about the love and the care and the bond and the trust that we had. Whitney knew I was there for her."

Robyn said she hopes the book will shed new light on the amazing woman she came to love.

"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." she explained.

Robyn Crawford's memoir "A Song For You: My Life With Whitney Houston" is expected on shelves November 12.

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