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Stuart Ramson / AP file	R. Kelly can officially bump and grind with whomever he chooses: His divorce from wife Andrea is now final.

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updated 4:46 p.m. ET Jan. 9, 2009

NEW YORK - R. Kelly can officially bump and grind with whomever he chooses: He has finalized his divorce from his wife.

Kelly and his former wife, Andrea, confirmed they were officially divorced after 11 years of marriage.

A joint statement on Thursday said they had reached an amicable resolution concerning all issues related to their marriage and will share joint custody of their three children.

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The 41-year-old Kelly — known for the hits "Bump N' Grind," "I'm a Flirt," "Trapped in the Closet," "I Believe I Can Fly" and many others — was acquitted of child pornography charges last year.