"She shared everything with me about her family, as I did mine," Robyn said of her love affair with Whitney.
Robyn Crawford has denied claims Whitney Houston was molested by her cousin Dee Dee Warwick.
In 2018, the documentary "Whitney" made a stunning assertion that the Grammy-winner was sexually abused by Dee Dee Warwick, Whitney's cousin and the sister of singer Dionne Warwick.
But 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 extremely intimate relationship with Whitney, saying she would have been aware of the abuse.
"Whitney loved Dee Dee," wrote Robyn. "She was very close to the Warwick family. Both before all of her success -- and during."
"She and I talked a lot about our families," noted Robyn. "She shared everything with me about her family, as I did mine. If that was true, I would have known about it. She would have told me."
Kevin Macdonald -- the director of "Whitney" -- told Indiewire that Whitney's half-brother, Gary Garland, told him he had been sexually abused as a child by Dee Dee and believed Whitney had also been molested.
At the time of the allegations, Whitney's mom, Cissy Houston, and Dionne denied the claims as well by issuing a statement that read: "Dee Dee may have had her personal challenges but the idea that she would have molested my children is overwhelming and for us unfathomable."
Robyn's support of Whitney's cousin Dee Dee is one of many revelations in her new memoir.
Robyn wrote that she and Whitney 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 believed Whitney's daughter Bobbi Kristina knew about the pair's love affair.
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 Crawford's memoir "A Song For You: My Life With Whitney Houston" is expected on shelves November 12.