R. Kelly pleaded not guilty to sex trafficking charges in Brooklyn federal court where two of his live-in girlfriends were on hand to show their support.

The pop star pleaded not guilty in New York on Friday to charges that he ran a criminal scheme in which he recruited women and underage girls to have sex with him, isolating them and often controlling what they ate and when they went to the bathroom.

One of Kelly’s lawyers, Douglas Anton, entered the plea to charges of racketeering and sex trafficking before Magistrate Judge Steven Tiscione in federal court in Brooklyn.

Kelly, dressed in blue and orange jail clothes, greeted the judge and answered 'yes' when asked if he understood his rights. He was otherwise silent.

The audience in the packed courtroom included more than a dozen supporters of Kelly, one of whom wore a T-shirt that said 'Free R. Kelly,' and two live-in girlfriends, Joycelyn Savage and Azriel Clary.

Federal prosecutors in Brooklyn say Kelly and his entourage invited women and girls backstage after concerts, kept them from friends and family and made them dependent on him financially.

The singer, who stands accused of raping underage girls, was flown from Chicago to Teterboro Airport in New Jersey on Thursday afternoon, according to Page Six.

R. Kelly is seen standing next to his lawyer, Douglas Anton (left), in Brooklyn federal court during his arraignment on Friday

Kelly was arraigned on charges of racketeering and sex trafficking before Magistrate Judge Steven Tiscione on Friday

R. Kelly is seen above in Chicago on June 26. He has denied allegations of sex trafficking

Douglas Anton, Kelly's lawyer, said that before the hearing he had been trying to track down his client, who is in federal custody. Anton is seen arriving to Brooklyn federal court on Friday

Azriel Clary (left) and Joycelyn Savage (right), two of R. Kelly's live-in girlfriends, leave Brooklyn federal court after his arraignment

Clary was seen with a cell phone cover devoted to the singer. The cover shows a photo montage of Kelly

Savage also had a cell phone cover that appeared to bear the words 'I Believe I Can Fly' - the title of a hit song by Kelly

Before the hearing, Anton said that the authorities have not told him where his client is being held.

‘I have spent the hours that followed his landing on the phone with the [Bureau of Prisons] at both New York [Metropolitan Correctional Center in Manhattan] and Brooklyn [Metropolitan Detention Center] trying to locate my client, but no one would provide that information to me, even recognizing I am his attorney, instead directing me to bop.gov to find out where he would be,’ he wrote.

‘Indeed, its 11:00pm now and the bop.gov website still lists this client as being located in Chicago MCC.’

As of Friday morning, Kelly is listed as being detained at Brooklyn’s MDC.

Anton wants to see Kelly before his arraignment, which is scheduled for 10:30am local time.

He asked the judge for ‘some understanding’ if he’s late.

The lawyer was seen walking into Brooklyn federal court on Friday.

Clary and Savage were also seen arriving at the courthouse.

In March, Azriel, now 21, and Savage, 23, told CBS This Morning that they love Kelly even though their families claim he has brainwashed them.

Gloria Allred, who is representing several of Kelly's alleged victims, was also photographed walking into the courthouse in Brooklyn on Friday

The women claimed their relationship with the 52-year-old was normal.

Savage has been estranged from her family for two years after a falling out over her relationship with Kelly.

The family believes that Savage is being held against her will by Kelly as one of her 'sex slaves.'

Both Savage and Clary deny their relationship with the singer is non-consensual.

Gloria Allred, who is representing several of Kelly's alleged victims, was also photographed walking into the courthouse.

Federal prosecutors in Brooklyn say that Kelly and his entourage invited women and girls backstage after concerts, kept them from friends and family and made them dependent on him financially.

Anton said in a court filing on Wednesday that Kelly's fans were 'dying to be with him' and that the charges amounted to 'groupie remorse.'

Recent online records indicate that Kelly was being held at Metropolitan Detention Center in Brooklyn (seen in the above stock image)

Allred, a lawyer representing three of Kelly’s accusers, said Anton’s filing had given prosecutors a preview of what Kelly’s defense may be.

'If that’s all he’s got, I think he’s going to have major challenges in this case,' Allred said.

The singer, 52, known for such hits as I Believe I Can Fly and Bump N’ Grind, was arrested in Chicago last month on the Brooklyn charges and a separate set of charges brought by federal prosecutors in Chicago.

The charges were brought after seven women including his ex-wife, appeared on a Lifetime television documentary which aired in January and accused him of emotional and sexual abuse.

The R&B singer has denied abuse allegations for decades.

Savage (left) and Clary (right) are seen leaving the court house after the arraignment in Brooklyn on Friday

The two women were on hand to lend their support to Kelly. Savage is seen above leaving the court house

Savage (right) has been estranged from her parents after a fallout over her relationship with the singer

Clary was seen holding a cell phone with an R. Kelly-themed protective cover

Clary was a 17-year-old aspiring singer when she joined R. Kelly during his 2015 tour. She has been with him ever since

In 2008, he was tried on child pornography charges and found not guilty.

Chicago prosecutors said that Kelly had sexual contact with five minors and recorded sexually explicit videos of some of them.

They also accused Kelly of obstructing justice by using threats and bribes, including payments of hundreds of thousands of dollars, to keep his victims quiet.

Kelly has pleaded not guilty to those charges. A judge in Chicago ordered that he remain jailed while he awaits trial.

In addition to the two federal cases, Kelly was charged with 10 counts of aggravated sexual abuse in a Cook County, Illinois state court in February.

The Cook County prosecutors have accused Kelly of abusing a victim between the ages of 13 and 16 between May 2009 and January 2010.

Kelly pleaded not guilty to the state charges.

Kelly faces a maximum prison sentence of more than 200 years for all the charges pending against him.