Bill Cosby will sit down on Friday for a deposition in a lawsuit being brought by a woman who claims the comedian sexually abused her in 1974 when she was 15 years old.

Cosby will be forced to answer questions in regarding accuser Judy Huth, and the deposition will be sealed until at least December, a judge ruled on Wednesday. However, the portions of the deposition could be made public after December, once the transcript has been reviewed. 

Meanwhile, "The Cosby Show" alum Malcolm-Jamal Warner is spoke out to the Associated Press about the allegations against his former co-star. He said the series' legacy has been "tarnished" by the sexual assault allegations made against Cosby.

"My biggest concern is when it comes to images of people of color on television and film, no matter what ... negative stereotypes of people of color, we've always had 'The Cosby Show' to hold up against that. And the fact that we no longer have that, that's the thing that saddens me the most because in a few generations the Huxtables will have been just a fairy tale," said Warner, who starred as Cosby's son, Theo Huxtable, on the long-running NBC sitcom.

Warner said he has been in touch with Cosby, but he would not comment on their conversations.

"I think the things that we discussed really have to stay private between us. But it's just a bad situation all around — for him, for his family, the women, their families, the legacy of the show," said Warner during an interview Thursday.

Cosby admitted having extramarital relationships with several women, including some who now accuse him of sexual assault. He also admitted in a deposition to purchasing Quaaludes with the intention of giving them to women he wished to have sex with. He has never been charged with a crime.

Warner, who won his first Grammy earlier this year for his work on Robert Glasper's "Jesus Children," is currently promoting his new album, "Selfless," out now.

"I grew up with a maniacal obsession with not wanting to be one of those 'Where Are They Now Kids,' " said Warner of his busy year. "I feel very blessed to be able to have all of these avenues of expression ... to be where I am now and finally at a place where I can let go of that worry about having a life after 'Cosby.' "

The Associated Press contributed to this report.