A woman is claiming to have witnessed R. Kelly rape R&B singer Aaliyah, when she was just 15 years old.

In Lifetime's upcoming Surviving R. Kelly, which airs this Thursday, Jovante Cunningham claims to have witnessed the then 27-year-old commit statutory rape on the teen.

The shocking 6-part docu-series is built upon wide-ranging interviews with many of R. Kelly’s former friends, family members and colleagues, but most notably, women who claim that for decades the hit-making singer and producer used his power and influence to sexually and physically abuse women and young girls.

Jovante was on the road with Aaliyah and R Kelly. She explained,  'On a tour bus, there really aren’t many confined spaces. When you get on the bus there are bunks and so these bunks have little curtains you can pull at night if you don’t want anybody to see you sleeping.'

Jovante - who worked as a backup singer for R Kelly continued: 'So it just so happened we were all laying in our bunks and the curtains are open, everybody’s communicating, laughing, when the [room] door flew open on the bus.,' she recalled. 'Robert was having sex with Aaliyah.'

When asked what she saw, Jovante told the camera: 'Things that an adult should not be doing with a child.

R Kelly reportedly married Aaliyah - when she was just 15 years old. The marriage was eventually annulled, and both went on to have spectacular music careers. Unfortunately for Aaliyah, her career was cut short when she died tragically in a plane crash.