" You Rock My World " was performed twice live during the 30th anniversary concerts , which took place in late 2001 . In the second concert , he was joined by Usher and Chris Tucker at the end , who danced with him . It was the only full song from '' Invincible '' that Jackson had performed live . The song was set to be performed in his This Is It concerts on certain days replacing " The Way You Make Me Feel "
30th anniversary concerts
Michael Jackson: 30th Anniversary Celebration
You Rock My World