Billboard reported that the video, directed by Eif Rivera, starts with a tribute to Hussle, who died after he was shot outside his now-shuttered The Marathon Clothing brick-and-mortar store March 31.
The video, TMZ reported, is the last one Hussle shot. Behind-the-scenes video obtained by the tabloid site shows Legend, Hussle and Khaled standing on top of a parking structure with a piano and retro cars in shades of blue.
Khaled said in a statement Wednesday that the video footage was shot days before Hussle died. Legend reflected on shooting the music video after news broke of Hussle's death.
"Recently, I embarked on a soul-searching journey down a road I never thought I would travel in a million years. It began when a tragedy robbed the world of an enlightened soul, a brother, a father, a partner and my friend, Nipsey Hussle," the statement said.
“Just days prior, he shared his energy and positivity with me on a video set for a song called, ‘Higher.’ After much prayer and reflection, and with the full blessing of the Asghedom family, I am sharing that moment with the world.
“The very title of the song reminds us that vibrating on a ‘Higher; level was the essence of Nipsey’s soul. It is in this spirit, of moving forward, of preserving his mission that I, my co-workers, producers and label partners are donating 100% of all our proceeds from 'Higher' to Nipsey's children, Emani and Kross.
“The Marathon Continues.”
Watch the music video on YouTube and see a teaser below.