MORGAN STANLEY DEAN WITTER DISCOVER & CO
SC 13G/A, 1997-06-19
FINANCE SERVICES
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<PAGE>   1
                       SECURITIES AND EXCHANGE COMMISSION
                             WASHINGTON, D.C. 20549



                                  SCHEDULE 13G

                   Under the Securities Exchange Act of 1934

                                (Amendment No.1 )

                     Intelidata Technologies Corporation
- -------------------------------------------------------------------------------
                                (Name of Issuer)

                                 Common Stock
- -------------------------------------------------------------------------------
                         (Title of class of securities)

                                  45814T107
- -------------------------------------------------------------------------------
                                 (CUSIP number)


     Check the following box if a fee is being paid with this statement /x/ (A
     fee is not required only if the filing person: (1) has a previous
     statement on file reporting beneficial ownership of more than five percent
     of the class of securities described in Item 1; and (2) has filed no
     amendment subsequent thereto reporting beneficial ownership of five
     percent or less of such class.) (See Rule 13d-7).


     The remainder of this cover page shall be filled out for a reporting
     person's initial filing on this form with respect to the subject class of
     securities, and for any subsequent amendment containing information which
     would alter the disclosures provided in a prior cover page.

     The information required in the remainder of this cover page shall not be
     deemed to be "filed" for the purpose of Section 18 of the Securities
     Exchange Act of 1934 ("Act") or otherwise subject to the liabilities of
     that section of the Act but shall be subject to all other provisions of
     the Act (however, see the notes).

<PAGE>   2

- ---------------------------                                   -----------------
CUSIP No.    45814T107                   13G                  Page 2 of 8 Pages
- ---------------------------                                   -----------------

- -------------------------------------------------------------------------------
      1      NAME OF REPORTING PERSONS
             S.S. OR I.R.S. IDENTIFICATION NO. OF ABOVE PERSONS
                                Morgan Stanley, Dean Witter, Discover & Co.
                                IRS # 39-314-5972

- -------------------------------------------------------------------------------
      2      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
                                                                   (a) [ ]
                                                                   (b) [ ]
- -------------------------------------------------------------------------------
      3      SEC USE ONLY


- -------------------------------------------------------------------------------
      4      CITIZENSHIP OR PLACE OF ORGANIZATION

              The state of organization is Delware
- -------------------------------------------------------------------------------
                               5    SOLE VOTING POWER
                                                  0
  NUMBER OF                    ------------------------------------------------
   SHARES                      6    SHARED VOTING POWER
 BENEFICIALLY                             3,002,268**
  OWNED BY                     ------------------------------------------------
    EACH                       7    SOLE DISPOSITIVE POWER
  REPORTING                                       0 
 PERSON WITH                   ------------------------------------------------
                               8    SHARED DISPOSITIVE POWER
                                          3,199,268**
- -------------------------------------------------------------------------------
      9      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON

              3,199,268**
- -------------------------------------------------------------------------------
     10      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN 
             SHARES*


- -------------------------------------------------------------------------------
     11      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)

                 10.06%
- -------------------------------------------------------------------------------
     12      TYPE OF REPORTING PERSON*
                IA, CO
- -------------------------------------------------------------------------------

                    * SEE INSTRUCTIONS BEFORE FILLING OUT !

                   ** AS OF 5/31/97
<PAGE>   3
- ---------------------------                                   -----------------
CUSIP No.   45814T107                 13G                     Page 3 of 8 Pages
- ---------------------------                                   -----------------

- -------------------------------------------------------------------------------
      1      NAME OF REPORTING PERSONS
             S.S. OR I.R.S. IDENTIFICATION NO. OF ABOVE PERSONS

              Morgan Stanley Asset Management Limited

- -------------------------------------------------------------------------------
      2      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
                                                                 (a) [ ]
                                                                 (b) [ ]

- -------------------------------------------------------------------------------
      3      SEC USE ONLY


- -------------------------------------------------------------------------------
      4      CITIZENSHIP OR PLACE OF ORGANIZATION

              Organized under the Laws of England
- -------------------------------------------------------------------------------
                           5    SOLE VOTING POWER
                                               0
  NUMBER OF                ----------------------------------------------------
   SHARES                  6    SHARED VOTING POWER
 BENEFICIALLY                          3,002,268**      
  OWNED BY                 ----------------------------------------------------
    EACH                   7    SOLE DISPOSITIVE POWER
  REPORTING                                           
 PERSON WITH               ----------------------------------------------------
                           8    SHARED DISPOSITIVE POWER
                                       3,195,168**
- -------------------------------------------------------------------------------
      9      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON

              3,195,168**
- -------------------------------------------------------------------------------
     10      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN 
             SHARES*


- -------------------------------------------------------------------------------
     11      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)

                10.04%
- -------------------------------------------------------------------------------
     12      TYPE OF REPORTING PERSON*
               IA, CO
- -------------------------------------------------------------------------------

                    * SEE INSTRUCTIONS BEFORE FILLING OUT !

                   ** as of 5/31/97
<PAGE>   4

- ---------------------------                                   -----------------
CUSIP No.  45814T107              13G                         Page 4 of 8 Pages
- ---------------------------                                   -----------------

Item  1 (a)                 Name of Issuer
- -----------                 ---------------------------------------------------

                            Intelidata Technologies Corporation

Item  1 (b)                 Address of issuer's principal executive offices
- -----------                 ---------------------------------------------------

                            13873 Park Center Road
                            Suite 353
                            Herndon, VA 22071

Item  2 (a)                 Name of person filing
- -----------                 ---------------------------------------------------

                        (a) Morgan Stanley, Dean Witter, Discover & Co.
                        (b) Morgan Stanley Asset Management Limited


Item  2 (b)                 Principal  business  office
- -----------                 ---------------------------------------------------

                        (a) 1585 Broadway
                            New York, New York 10036

                        (b) 25 Cabot Square
                            Canary Wharf
                            London E14 4QA
                            England   
                            

Item  2 (c)                 Citizenship
- -----------                 ---------------------------------------------------

                            Incorporated by reference to Item 4 of the cover
                            page pertaining to each reporting person.

Item  2 (d)                 Title of class of Securities
- -----------                 ---------------------------------------------------

                            Common Stock

Item  2 (e)                 Cusip No.
- -----------                 ---------------------------------------------------
                            45814T197

Item  3                 (a) Morgan Stanley, Dean Witter, Discover & Co.(e) an 
- -----------                 Investment Adviser registered under section 203 of 
                            the Investment Advisers Act of 1940. 
                            
                        (b) Morgan Stanley Asset Management Limited is (e) an 
                            Investment Adviser registered under Section 203 of 
                            the Investment Advisers Act of 1940.

Item  4                     Ownership
- -----------                 ---------------------------------------------------

                            Incorporated by reference to Items (5)-(9) and (11)
                            of the cover page.

                  
<PAGE>   5
- ---------------------------                                   -----------------
CUSIP No.    45814T107                       13G              Page 5 of 8 Pages
- ---------------------------                                   -----------------


              
Item  5              Ownership of 5 Percent or Less of a Class
- ----------           ----------------------------------------------------------

                     Inapplicable

Item  6              Ownership of More than 5 Percent on Behalf of Another 
- ----------           Person
                     ----------------------------------------------------------

                     Accounts managed on a discretionary basis by Morgan
                     Stanley Asset Management Limited, a wholly owned subsidiary
                     of Morgan Stanley, Dean Witter, Discover & Co., are known
                     to have the right to receive or the power to direct the 
                     receipt of dividends from, or the proceeds from, the sale
                     of such securities. No such account holds more than 5 
                     percent of the class.


Item  7              Identification and Classification of the Subsidiary Which 
- ----------           Acquired the Security Being Reported on By the Parent 
                     Holding Company
                     ----------------------------------------------------------

                     Inapplicable

Item  8              Identification and Classification of Members of the Group
- ----------           ----------------------------------------------------------

                     Inapplicable

Item  9              Notice of Dissolution of Group
- ----------           ----------------------------------------------------------

                     Inapplicable

Item 10              Certification
- ----------           ----------------------------------------------------------

                     By signing below I certify that, to the best of my
                     knowledge and belief, the securities referred to above
                     were acquired in the ordinary course of business and were
                     not acquired for the purpose of and do not have the effect
                     of changing or influencing the control of the issuer of
                     such securities and were not acquired in connection with
                     or as a participant in any transaction having such purpose
                     or effect.

<PAGE>   6
- ---------------------------                                   -----------------
CUSIP No.      45814T107                 13G                  Page 6 of 8 Pages
- ---------------------------                                   -----------------




                       After reasonable inquiry and to the best of my knowledge
                       and belief, I certify that the information set forth in
                       this statement is true, complete and correct.


           Date:       June 19, 1997

           Signature:  /s/ PETER A. NADOSY
                       --------------------------------------------------------
           Name/Title: Peter A. Nadosy/Director Morgan Stanley Asset Management
                       Limited
                       --------------------------------------------------------
                       MORGAN STANLEY ASSET MANAGEMENT LIMITED

           Date:       June 19, 1997

           Signature:  /s/ Bruce Bromberg
                       --------------------------------------------------------
                       
           Name/Title: Bruce Bromberg / Morgan Stanley, Dean Witter, Discover 
                       & Co.
                       --------------------------------------------------------
                       MORGAN STANLEY & CO. INCORPORATED



                       INDEX TO EXHIBITS                                    PAGE
                       -----------------                                    ----


           EXHIBIT  1  Agreement to Make a Joint Filing                        7


           EXHIBIT  2  Secretary's Certificate Authorizing Bruce Bromberg      8
                       to Sign on behalf of Morgan Stanley, Dean Witter,
                       Discover & Co.


<PAGE>   1
- ---------------------------                                   -----------------
CUSIP No.   45814T107              13G                        Page 7 of 8 Pages
- ---------------------------                                   -----------------



                           EXHIBIT 1 TO SCHEDULE 13G


                                June 19, 1997



     MORGAN STANLEY, DEAN WITTER, DISCOVER & CO.and MORGAN STANLEY ASSET
     MANAGEMENT LIMITED
     hereby agree that, unless differentiated, this Schedule 13G is filed on
     behalf of each of the parties.


       MORGAN STANLEY ASSET MANAGEMENT LIMITED

   BY: /s/ PETER A. NADOSY
       ------------------------------------------------------------------------
       Peter A. Nadosy/Director Morgan Stanley Asset Management Limited
                                    



       MORGAN STANLEY, DEAN WITTER, DISCOVER & CO.

   BY: /s/ Bruce Bromberg
       ------------------------------------------------------------------------
       Bruce Bromberg/Morgan Stanley & Co. Incorporated


<PAGE>   1

                                                            Page 8 of 8 Pages


         [LETTERHEAD OF MORGAN STANLEY, DEAN WITTER, DISCOVER & CO.]



                           SECRETARY'S CERTIFICATE
                           -----------------------



        I, Charlene R. Herzer, a duly elected and acting Assistant Secretaty of
Morgan Stanley, Dean Witter, Discover & Co., a corporation organized and
existing under the laws of the State of Delaware (the "Corporation"), certify
that as approved by a Unanimous Consent of Directors in Lieu of a Meeting dated
as of May 31, 1997, the following persons are each authorized to sign reports
to be filed under Sections13 and 16 of the Securities Exchange Act of 1934 on
behalf of the Corporation and such authorizations are in full force and effect
as of this date:


                             Stuart J. M. Breslow
                             Robert G. Koppenol
                             Bruce Bromberg
                             Robin Sherak


        IN WITNESS WHEREOF, I have hereunto set my name and affixed the seal of
the Corporation as of the 3rd day of June, 1997.

                                                
                                                /s/ Charlene R. Herzer 
                                                -----------------------------
                                                Charlene R. Herzer
                                                Assistant Secretary
 
[SEAL]


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