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Attorneys for R.Kelly announced that the R&B superstar and his wife of 11 years have divorced. The couple will have joint custody of their three children.

Kelly, 42, and wife Andrea, 35, met when she was a dancer for the star. Andrea exclusively spoke to ESSENCE in 2007. She said she didn’t believe her husband was on the notorious video tape. Authorities accused him of having sex with a young girl on the tape, but last year Kelly was found not guilty of all changes against him.

According to a statement from his attorneys, “a judgment for dissolution of marriage was entered today dissolving the marriage between singer R. Kelly and his wife of 11 years, Andrea Kelly. The parties have reached an amicable resolution concerning all issues related to their marriage and will share joint custody of their three children. The details of this agreement will remain confidential and the family requests that their privacy be respected during this time.”