The TV presenter, 63, and 48-year-old comedian were both guests on BBC One’s The Graham Norton Show when the incident took place back in 2007.
Showing a clip of it on ITV daytime show Lorraine on Wednesday, the Scottish star admitted “that’s uncomfortable to watch that now.”
She was joined by ITV UK news editor Paul Brand and The Mirror editor Alison Phillips to discuss the latest headlines surrounding Brand.
Brand was the subject of a joint investigation by the Sunday Times and Channel 4 Dispatches, which aired at the weekend and saw separate allegations of sexual assault and rape from four women between 2006 and 2013.
He has vehemently denied the allegations and said all of his relationships have been “consensual”.
Kelly recalled her multiple TV appearances with Brand saying: “I interviewed him a lot over that time when he was in the public eye.
“I usually got the charming Russell, the flirty Russell but I have been doing this a long time and I would like to think there was a tiny bit of respect there, maybe. Although this happened.”
Kelly then showed a clip where Brand can be seen touching her leg and exclaiming: “Oh my god, you’re wearing suspenders. I have been in other films but none of that matters now I know Lorraine Kelly is a sl*t.”
Back in the studio, Kelly said: “That’s uncomfortable to watch that now it absolutely is. Obviously for the record I was not wearing suspenders at all.
“He was laughing, I was laughing. It’s difficult looking back on it, and now I probably would have said something, but it’s an entertainment show, that was his shtick.”
She continued: “That’s what he was not just doing but actively encouraged to do. It’s not that long ago, not really.
“I do wonder if I would have put up with that now. I do wonder if we are in a different place now and if it even would have been aired.”
Kelly is not the only person to have questioned their reaction in similar situations.
Earlier this week, Vanessa Feltz reacted to the “deeply offensive” time Russell Brand asked if he could sleep with her then teenage daughters while a guest on his own chat show.