She has three children with the songwriter — Joann, Jay and Robert Jr. Joann, a.k.a. Buku Abi, is 20; Jay is 18 and Robert Jr. is 16.

» RELATED: 4 things to know about R. Kelly's children

Andrea Kelly said she and her kids have not been in contact with R. Kelly, and they do not know his phone number. She also revealed that her children call their father “Robert Sr.”

“They don’t call him dad,” she said.

Earlier this month, Andrea Kelly was featured in Lifetime's "Surviving R. Kelly" docuseries, which examined the artist's history of alleged sexual and emotional abuse of women.

She said she has yet to view the six-part special in its entirety, because “it’s too difficult to watch right now.”

However, she reiterated that she will continue to be an advocate for victims of abuse and said she will not be “silenced.”

“There’s still light at the end of the tunnel,” she said. “You can smile.”

Listen to the full conversation below.

» R. Kelly's daughter, Buku Abi, distances herself, family from singer