“You Rock My World” is from his tenth and final studio album released during his lifetime, Invincible (2001). It was released as the lead single from the album on August 22, 2001 by Epic Records. This was his last song to top various charts during his lifetime. Produced by Jackson and Rodney “Darkchild” Jerkins and written by Jackson, Jerkins, Fred Jerkins III, LaShawn Daniels and Nora Payne, the song is musically a disco–pop song with influences from Jackson’s songs from his previous studio albums with Quincy Jones.
‘Cause girl, you came and changed
The way I walk
The way I talk
But girl, you know it’s true
Stay with me, fulfill my dreams
And I’ll be all you’ll need