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Ray J Didn’t Mean to Disrespect Kim Kardashian in Joan Rivers Sex Tape Spoof

WeTV(NEW YORK) -- Joan Rivers and R&B singer Ray J raised a lot of eyebrows when the two wound up in bed. Their spoof of Ray J's infamous sex tape with Kim Kardashian is featured on the forthcoming season four premiere of WeTV's Joan & Melissa: Joan Knows Best? Ray J says the spoof was all in good fun, and wasn't meant to offend his ex-girlfriend or her family.

"It's all love and respect. I just try to keep it separate and stay on my end and kind of focus it on my life and Joan," the 33-year-old singer tells ABC News Radio. "So it's all love and respect. Yeah, but we gotta live our life too. You know what I'm saying? We don't go by the rules and we don't go by what people say. We do what we wanna do."

Joan and Ray J ruffled a few feathers with their spoof. One person in particular was Kim's sister Khloe Kardashian, who was set to appear on E!'s Fashion Police, hosted by Joan, but dropped out after the spoof was released, according to TMZ.

Ray J says the sex tape spoof was Joan's idea. "She wanted us to do a personal video together; something that was kinky. She wanted to put on some new lingerie...It wasn't Victoria Secret. I tell you that much. It was something better than that," he jokes. "We were just joking around and kind of positioning it in the same space as an [Saturday Night Live] skit or I mean, if you know about In Living Color. It was in that kind of space."

Ray J says the 80-year-old comedian held her own under the sheets. "Joan was great in bed. But overall she's energetic. She has a lot of enthusiasm," the singer says. "We had a couple glasses of wine after the shoot to just talk about our lives and where I've been and where she's been and I got to know her. For me, it was a great experience."

The experience helped Ray J -- who owns a reality show production company -- land a development deal. "I got a new deal with WeTV," he tells ABC News Radio. "And I've been pitching ideas to We for about three or four months now to come up with the right concept for a good partnership so this is a dope start that we're doing to promote the Joan & Melissa show."

WeTV's Joan & Melissa: Joan Knows Best? returns Saturday at 10 p.m. Eastern.

Copyright 2014 ABC News Radio

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