Singer D'Angelo has pleaded guilty after being accused of trying to pay an undercover police officer for sex. 

The Associated Press has reported that the vocalist and songwriter went to court on Friday, March 11 over a case of disorderly conduct which arose last year. It was also revealed that D'Angelo was "arrested at the wheel of his Land Rover" after trying to hand over $40 to an officer. 

No further information has been released, but it has been made clear that his offence was only a violation and not a crime, and that he has satisfied the conditions of his prosecutors. 

Watch D'Angelo's video for 'Cruisin'' here: