"The parties have reached an amicable resolution concerning all issues related to their marriage, and will share joint custody of their three children," their Chicago-based lawyers said in a joint statement. "The details of this agreement will remain confidential and the family requests that their privacy be respected during this time."
The couple separated in the fall of 2005, and Andrea went to court for an emergency restraining order, claiming that he had physically abused, harassed and stalked her, according to MTV News.
Andrea told Essence magazine in 2007 that she and Kelly "have a bond that we will have for the rest of our lives because we have children...That we filed for divorce is not that important."
They have two daughters and a son together.
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