D'Angelo wrapped up a prostitution case Friday by pleading guilty to disorderly conduct, ending one of the Grammy Award-winning R&B singer's series of run-ins with the law since his heyday a decade ago.

D'Angelo, 37, said nothing as he left a Manhattan courthouse and hastened to a black SUV. Disorderly conduct is a violation, not a crime.

He was arrested in March 2010 behind the wheel of a Range Rover after police said he tried to pay $40 for a sex act to an undercover officer posing as a prostitute.

D'Angelo, born Michael Archer, emerged as a standout among the neosoul singers of the 1990s, alongside such artists such as Maxwell, Lauryn Hill and Erykah Badu. D'Angelo became known for his falsetto and his sultry image, fueled when he appeared nearly naked in the video for the hit single "Untitled (How Does It Feel)." The song won the 2000 Grammy for best male R&B vocal performance, while his platinum-selling album "Voodoo" won that year's best R&B album Grammy.

He hasn't released an album since, though he has contributed to other artists' records and has said for years he's been working on one of his own.

Meanwhile, the Virginia-based singer racked up a number of drunken-driving and drug arrests and guilty pleas, was flung from his Hummer and hospitalized for several days after crashing the SUV into a fence, and was pepper-sprayed by police who said he resisted arrest at his home after a traffic confrontation with a woman who said he spit on her. He pleaded no contest to obstructing justice and settled with the woman in that 2002 incident.

In the New York case, prosecutors said he satisfied conditions they declined to specify; his lawyer, Stacey Richman, declined to comment.

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