Robyn Crawford is out promoting her memoir, A Song for You: My Life With Whitney Houston and she stopped by The Wendy Show.

She admitted to the host that she planned to pull up on her with the late singer to confront her about the things she said about them when she was on WBLS. “[After] a long day’s work, we’d get in the car, the radio was on … everyone lived by the radio back then. We’re in the car and you’re like … talking like you lived with us, like you’re roommates with us,” Crawford tells the radio personality turned TV host on Tuesday morning.

“We’d be in the car and Whitney would be like, ‘Who is she? Who is this woman? I don’t even know what she looks like!’ Our plan was to go down to Hudson Street … waiting for you right outside,” Crawford said.

Williams responded, “Robyn, I can’t even fight! I would’ve run.” Crawford assured Williams, “We weren’t going to fight you — we just wanted to see you face-to-face and have a chat.”

Robyn Crawford’s memoir confirms the rumors of her romantic relationship with Houston. This was a full circle moment for Williams who gossiped about it on radio. “All came true. A lot of what I said is in this book!”

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Whitney Houston’s best friend Robyn Crawford is speaking out about her romantic history with the late singer for the first time.

Crawford is releasing a new memoir, A Song For You: My Life with Whitney Houston, and released an excerpt to PEOPLE, which details her love story with Houston.

Houston has passed for seven years now and Crawford opens up about their relationship, saying, “I’d come to the point where I felt the need to stand up for our friendship. And I felt an urgency to stand up and share the woman behind the incredible talent.”

The two met as teenage summer camp counselors, a relationship that was based around the older Crawford, 19, looking out for Houston, 17. She would go on to state their physical relation would end early, just after Houston signed with Clive Davis at Arista records.

“She said we shouldn’t be physical anymore,” writes Crawford, “because it would make our journey even more difficult.”

“She said if people find out about us, they would use this against us,” says Crawford, “and back in the ’80s that’s how it felt.”

Crawford also detailed Whitney’s mother, Cissy Houston, and other members of her family pressured the late singer to not be as close to Crawford as she was.

She aims the book details the dynamic of their relationship, but also provides insight into exactly who Whitney Houston is. You can read more about the except here.

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