Whitney Houston's Best Friend Robyn Crawford Reveals What the Singer's Mom Reportedly Thought of Their Close Relationship

Robyn Crawford, 58, a longtime friend of the late songstress Whitney Houston has opened up about their friendship and the relationship they had, which the late singer's mom considered unnatural.

Whitney Houston was famous for her talent, one which made her a global icon, much loved by people all over the world.

Despite the fame and love her talent opened her to, it can be argued that not many people really knew much about the late icon. However, Whitney Houston enjoyed a great friendship with Robyn Crawford, one which the latter has recently confirmed was romantic and sexually intimate.

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Robyn Crawford made the revelations in her new memoir, "A Song For You: My Life with Whitney Houston." She also spoke to "NBC News Dateline," while PEOPLE published an early excerpt from the book.

The book gives Robyn's perspective of the relationship shared by both women and comes following decades of her silence on the matter. Crawford also added in her book that her relationship with Whitney Houston ended because of homophobic pressure.

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She writes in the book:

"She [Whitney] said we couldn’t be physical anymore because it would make our journey even more difficult."

Crawford explained that Whitney Houston ended the relationship before signing with Clive Davis at Arista Records in 1982. She also wrote that Whitney Houston presented her with a Bible and told her that people would use their relationship against them.

Crawford further revealed that Whitney's mother, Cissy Houston, was one of the people against their relationship. She said:

"Whitney told me her mother said it wasn’t natural for two women to be that close, but we were that close. We [Whitney and Crawford] never talked about labels, like lesbian or gay. We just lived our lives and I hoped it could go on that way forever."

It can be argued that Robyn Crawford was Whitney's closest friend and knew her more than any other person.

Her relationship with the singer generated a lot of talk in different quarters, with many giving their opinion of the women. In her book, Crawford explained why she was coming forward to speak on the issue now. She wrote:

"Why now? Believe me, I've done my best to stay out of the spotlight, keeping quiet while others painted their own pictures of me and us. In the nineteen years since I left Whitney's company, I have been pursued relentlessly to tell my story. I believe it is my duty to honor my friend and to clarify the many inaccuracies about myself and about who Whitney was."

Robyn Crawford's explosive book also chronicled their affair, from the first time they met when Robyn was 19, and Houston, 16. The pair met as youth workers at a summer camp in East Orange, New Jersey.

From then on, they went to share a loving relationship and many experiences, all detailed in the book.