The 'I Believe I Can Fly' singer hit the studio with Houston before her death and said that the experience felt like a family affair.
"We challenged each other a lot in the studio, from the first moment we laid eyes on each other, but it was a lot of fun," Kelly told MTV News.
"Whitney was a ball of fun, she reminded me of my sister who I used to argue with over music and that's what me and Whitney did - we argued over what note she wanted to hit and what note I wanted her to hit, but it was fun. At the end of the day, we got it down."
R Kelly went on to reveal that working on Sparkle's soundtrack felt like a natural choice as he is a fan of the original film.
"It's one of my favourite movies and I've kinda got the old school and new school in me, so it was perfect for me to go back and dig up that old vibe as far as the old tracks were concerned. It was perfect, and I had a ball doing it," he explained.
Houston and fellow Sparkle co-star Jordin Sparks debuted their duet 'Celebrate' in May.
Listen to Whitney Houston and Jordin Sparks' 'Celebrate' below: