Robyn Crawford, best friend of Whitney Houston, has just written a memoir called “A Song For You: My Life With Whitney Houston.” In the book Crawford talks about her relationship with the iconic singer. According to the Huffington Post, Crawford talks about her role as Whitney's assistant and then as a creative director. Crawford goes on to admit that she and Houston were romantic partners in the early 1980s. She wrote: “We just lived our lives and I hoped it could go on that way forever.”