At the two-minute hearing, Hennepin County attorney Judith Cole said no attorney had contacted her law firm or filed a deed of representation for Kelly. Officials said they were prostituting a person under the age of 18 in Minnesota.
An arrest warrant does not make it voluntary for Kelly to appear in court next time.
The singer's lawyer, Steve Greenberg, denied that his client did not appear in Minnesota and said on Twitter, "I was not served. I did not resist his appearance and he did not."
The US law firm in Illinois told Hennepin According to Laut Cole, the prosecutor will not provide Kelly until after his federal trial.
Kelly gave the girl, then 17, his autograph and a phone number, it says in the complaint. When she called, she was escorted to his Minneapolis hotel and met by someone she thought was a male employee.
The complaint states that when she met Kelly, they talked briefly before giving her $ 200 to dance for him. After agreeing on the amount, she agreed. He undressed and then undressed, and he touched her sexually as she danced, the documents say.
He gave the victim VIP tickets for his concert, the complaint states. This allowed her to attend the 18+ concert without paying or showing her ID.
Scottie Andrew, Chris Boyette and Katherine Dillinger of CNN contributed to this report.