Finally, the moment the team has been waiting for arrives. Prince, Paris and Blanket greet Oprah along with a number of their cousins. "Oprah, she's got it," Erin says. "She's going to make it all happen."

Watch Oprah greet the children 

Over lemonade, Michael's children tell Oprah their favorite memories of their dad. "I wanted to respect the memory of Michael Jackson and not do it in such a way that we would exploit, in any way," Oprah says. "Seeing Michael Jackson through the eyes of his children makes him more real, more accessible than anybody else you could interview." 

Watch Paris and Prince share their memories 

The team couldn't be happier about the interview's outcome. "What's wonderful about the outcome of this is that the world saw Michael's children in a very different way than they did a year and a half ago at his funeral," Erin says. "You see three vibrant, thriving children who love their father."