05/31/2014 at 04:50 PM EDT
was arrested after getting into an altercation at a swanky Beverly Hills hotel on Friday night, according to multiple reports.
Authorities were called to the Beverly Wilshire Hotel after the singer, best known for making a sex tape in 2007 with Kim Kardashian
, allegedly grabbed a woman's backside, according to a release from the Beverly Hills Police Department.
Ray J, who was linked to Whitney Houston
shortly before her death, was asked to leave the hotel after police spoke to him and the woman and determined that the incident was not a case of sexual battery and that the contact was "incidental." But when the 33-year-old got to the valet area, he allegedly acted belligerently and refused to leave.
As police took the brother of singer and actress Brandy into custody, he allegedly kicked and shattered the side window of the police car and spat in an officer's face. He was booked for trespassing, vandalism, resisting arrest and battery on a police officer.
His bail was set at $20,000, and he was released from custody on Friday night.
The Beverly Wilshire is not commenting on the incident. The rapper's rep also declined comment.
Reporting by GABRIELLE OLYA