"That's when it clicked in my head that he had been grooming me to become one of his pets. He calls them his pets," she said.
Jones claims he forced the girl to "crawl on the floor" and perform oral sex on her, allegedly saying: "This is my f****** pet, I trained her.
"She's going to teach you how to be with me," she said.
In 2017, in an interview with The Rolling Stone, she described the same incident and said he had brought the woman in naked.
She did not say how old the other woman was at the time. Jones was 27.
Kelly has long denied any wrongdoing and said in the past that he would work to clear his name after Jones and a number of others accused him of orchestrating a 'cult' in which he controlled women by allegedly telling them what to wear and when they could use their phones.
One woman's family claimed he was keeping their daughter hostage as a sex slave. That woman, Joycelyn Savage, later released a video saying she was "totally fine".
In the BBC documentary, Jones also told of how the singer allegedly controlled what she wore.
She claimed he always wanted his girlfriends to be dressed in baggy sweatpants if in public so as not to attract attention from other men.
Jones said that if she disobeyed him, she would be "slapped".
Three other members of the singer's inner circle took part in the documentary.
Lovell Jones, a former backup dancer for him, described him as a "Jekyll and Hyde" character who is "slightly perverted".
They also confirmed his marriage to the late singer Aaliyah who he wed in 1994 when she was 15 and he was 27.
Kelly, now 51, was previously acquitted of child pornography.
He has also paid several women private cash settlements in other claims of mistreatment.
Jones met Kelly in 2011 after he performed to a crowd in Dallas, Texas.
She went to live with him in Chicago not long afterwards after striking up a relationship over text message.
She says she left the relationship after two years in September 2013.
In 2017, she described details of their relationship at length in an interview with Rolling Stone.
"He was like a drill sergeant even when he was pleasuring me.
"He was telling me how to bend my back or move my leg here. I'm like, 'Why is he directing it like this?'
"It was very uncomfortable," she said.
She said at the time that when he told her to move in with him, he referred to girls he had "raised" and said they too would be at the Chicago home.
"He said, 'I have friends and I have girls I've raised.'
"I didn't know what he meant by "raised" at the time.
"He said, 'I eventually want you to meet them, but I want to make sure you're mentally ready for that,'" she said.
Jerondah Pace, now 25, is another woman who claims Kelly abused her while keeping her against her will in his home when she was a teenager.
They met when she was 16 and began having sex soon afterwards, she claims. The woman said he made her dress up in a schoolgirl's outfit and wear her hair in pigtails.
Others are still being held across the country against their will, according to their families.
Kelly has always denied this.
