At Monday's hearing, Kelly's case was assigned to the judge who would preside over the trial, Cook County Associate Judge Lawrence Flood.
Kelly's next court date has been scheduled for March 22.
The 52-year-old Kelly was charged in a grand jury indictment unsealed Friday with 10 counts of aggravated sexual abuse involving four victims, three of whom were minors.
The R&B's court appearance comes as attorney Michael Avenatti says his legal team has obtained a second video that he alleges shows Kelly sexually assaulting a minor.
Avenatti says he represents two Kelly victims and previously gave prosecutors video evidence of the singer having sex with an underage girl. He tweeted that he plans to give the video to prosecutors Monday.
A judge on Saturday set bond at $1 million, requiring the Grammy Award-winning singer to pay 10 percent. Among the conditions of release is that Kelly have no contact with females younger than 18.
Greenberg told Fox News on Sunday the R&B star remains jailed as confidants make arrangements to pay the $100,000 bail needed to free him.
"He has to rely on others acting on his behalf," Greenberg told Fox News on Sunday. "And it's just not that easy — because Kelly's in jail."
Fox News' Barnini Chakraborty and The Associated Press contributed to this report.