There, he offered her $200 to dance for him, Mr. Freeman said. She accepted.

According to the criminal complaint, the girl, now a woman in her mid-30s, told investigators this year that Mr. Kelly helped remove her clothing, then took off his own clothes, and they danced.

She said Mr. Kelly lay on the bed and that she climbed on top of him. Mr. Kelly then touched her all over her body, including her vagina and breasts, she told investigators. Mr. Kelly also offered the girl free VIP seating at his concert, which was restricted to adults.

The three-year statute of limitations does not hinder prosecution in this case, Mr. Freeman said, because the clock stopped when Mr. Kelly, who has lived in the Chicago and Atlanta areas, left Minnesota, and there was no indication that he had spent three years in the state since then.

The county attorney’s office became aware of the allegations in January when the woman contacted a tip line that had been set up by the Cook County State’s Attorney’s Office in Chicago following the airing of “Surviving R. Kelly,” a Lifetime documentary series about the singer’s treatment of women . In bringing the charges, investigators interviewed the girl and her brother, who Mr. Freeman said had become suspicious when he saw that his sister had a front-row view of Mr. Kelly’s concert. Mr. Freeman said both were embarrassed about the incident at the time and were not willing to come forward until the outpouring of allegations against Mr. Kelly this year.

Through years of allegations, rumors, and even a previous trial on charges of child pornography — he was acquitted on all counts in 2008 when the girl and her parents refused to testify — Mr. Kelly, whose full name is Robert S. Kelly, seemed largely impervious to prosecution. But since January, when “Surviving R. Kelly” aired, the accusations appear to have caught up to him.