Robert Sylvester Kelly, who goes by the stage name R. Kelly, performed at Whitney Houston's funeral on Saturday, Feb.18, 2012. The R&B singer chose to perform the balled I Look to You, a song he wrote for Whitney Houston. The song was included in her seventh and final studio album, also titled I Look to You.

Kelly did not mince words, diving straight into the song and adding, Rest in peace Whitney Houston, before leaving the stage.

Watch the music video for Whitney Houston's version of the song below, accompanied by the song's lyrics:

I Look to You Lyrics:

As I lay me down Heaven hear me now I’m lost without a cause After giving it my all

Winter storms have come And darkened my sun After all that I’ve been through Who on earth can I turn to?

Chorus: I look to you, I look to you After all my strength is gone In you I can be strong  I look to you, I look to you And when melodies are gone In you I hear a song I look to you

'bout to lose my breath There's no more fighting left Sinking to rise no more Searching for that open door

And every road that I've taken Led to my regret And I don't know if I'm go'n make it Nothing to do but lift my head


My levees are broken My walls are coming down on me My rain is falling Defeat is calling I need you to set me free Take me far away from the battle I need you Shine on me!