The late singer's will states that all of her personal effects, cars, clothing, jewellery and furnishings should go to her surviving children, Inside Edition reports.
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Whitney signed the will on 3 February 1993, a month before she gave birth to her daughter.
The money will be held in a trust, and 19-year-old Bobbi Kristina will receive part of it when she turns 21, more at 25, and then the balance at 30.
Trustees can give her money for specific purposes, like tuition, house buying or starting a business.
It is thought Whitney's mother Cissy is the executor of the will, and her brother and sister-in-law are trustees, according to BANG Showbiz.
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Bobbi Kristina has recorded an interview with Oprah Winfrey about her mother, which will air on Sunday, but some members of Whitney's family think it's too soon.
A source told People some relatives want Bobbi Kristina to "stay out of the limelight for a while."