He faced allegations of running a sex cult full of young female fans earlier this month.
And R. Kelly returned to the stage for the first time since the recent reports for a concert in Virginia Beach on Friday night.
As seen in an Instagram video posted by a fan, the R&B singer, 50, sang to the audience before grabbing a concert-goers phone and urging a fan to touch his own body.
In the clip, he first sings his song Half On A Baby into the camera as the audience cheers on.
As the song continues, the crooner lowers the phone to his genital area and rubs it against himself over his pants.
The explicit move was well-received by the audience, who were not deterred from attending the concert by the stream of bad press surrounding the singer.