Rochelle Washington (l), and Latresa Scaff (r) are being represented by lawyer Gloria Allred. Photo: Internet Source

They said the singer then cornered them in a hotel room and demanded sex.

Kelly, 52, has been accused of decades of sexual abuse against women. He has never been convicted and denies all the allegations.

Addressing journalists in New York, the two women said they were teenagers when Kelly's security staff picked them out of a concert audience. They were unable to give the exact year but said it was either 1995 or 1996.

Ms Scaff, 40, said that at the party they were given cocaine, marijuana and alcohol and invited to wait for the singer in his hotel room.

Once there, they were told that he was about to arrive and that they should pull up their dresses, she said.

The singer arrived with his penis exposed, Ms Scaff said, and invited the girls to a threesome.

Ms Washington, now 39, refused and went to the bathroom while Ms Scaff stayed and had sex with him "even though I did not have the capacity to consent" because of the drink and drugs, she added.

Ms Scaff said she had decided to come forward "because of all of the other victims".