The singer denies charges of sex abuse but complainants will not be filmed or broadcast without their consent.
The singer was jailed after failing to pay child maintenance.
R Kelly has said he “didn’t do this stuff” in his first interview since being charged with sexually abusing four people.
The singer’s next court date has been scheduled for March 22.
The 52-year-old singer was driven to the station in a dark-coloured van with heavily-tinted rear windows.
The charges come after years of allegations directed at the singer.
The embattled entertainer has long been accused of behaviour that has ranged from questionable to criminal.