Also, she requested that anyone who was a victim of the singer to come forward.
Officials confirm they have received calls after Foxx's plea.
Grammy winning singer and songwriter R. Kelly is under legal scrutiny in two states, Georgia and IL, for sexual and physical abuse by multiple women.
Pressure is on authorities in Florida as well, after Angelo Clary, who has alleged that his daughter Azriel Clary is being held captive by Kelly, publicly pushed for them to follow Fulton County's lead.
"We hope that it will turn into a fruitful investigation and it will result in the return of Joycelyn Savage to her family or, at the very least, that she start opening continuous conversations and interactions with her family like she had before she met Mr. Robert Sylvester Kelly", Griggs told PEOPLE on Wednesday. Van Allen also claimed that R. Kelly was considering having her killed after the tapes were compromised.
Chris Hopper, a spokesman, for the Fulton County district attorney's office, declined to comment.
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Kelly's Chicago-based lawyer, Steve Greenberg, dismissed the claims raised in the series in an interview with Billboard, casting them as "another round of stories" used to "fill reality TV time".
A BuzzFeed report published in 2017 from Chicago music critic Jim DeRogatis, who has investigated Kelly for more than a decade, renewed public interest in allegations against the musician.
Timothy Savage told a police officer on January 3 that Don Russell, whom he identified as Kelly's manager, had texted him saying it would be best for him and his family if the documentary didn't air, according to a Henry County police report. Mr. Henry James Mason, investigators said in a police report, threatened to harm and kill members of the Savage family in retaliation for attempting to contact daughter Joycelyn Savage.
Contact information for Russell could not be immediately found.
The Associated Press reported that in 2008, a Cook County jury acquitted Kelly on 14 counts of child pornography after he was accused of engaging in sex acts with a girl as young as 13. "I stand behind these women 1000%, believe them, know they are suffering and in pain and feel strongly that their voices should be heard and taken seriously".