Nipsey Hussle's final music video set for Friday release

DJ Khaled and John Legend will release Nipsey Hussle's final music video on Friday "with the full blessing" of the late rapper's family.

Khaled said late Thursday that it took "a soul-searching journey" to proceed with "Higher," a song by Khaled that features Nipsey and appears on Khaled's new album, "Father of Asahd," which he'll also drop Friday.

» Lauren London breaks silence on death of Nipsey Hussle: 'I am completely lost'

The accompanying video, set on top of a parking structure in Inglewood, was filmed just days before Hussle was gunned down outside his South L.A. clothing store in late March.

"The very title of the song reminds us that vibrating on a 'Higher' level was the essence of Nipsey's soul," Khaled wrote in a message shared on Twitter. "It is in this spirit, of moving forward, of preserving his mission that I, my co-writers, producers and label partners are donating 100% of all our proceeds from 'Higher' to Nipsey's children, Emani and Kross."

Legend shared the same missive on Instagram, adding that he was "proud to be a part of this inspiring record with @djkhaled and @nipseyhussle. We lost him too soon." The Grammy and Oscar winner referenced the music video for the "beautiful new song" in a March tweet mourning Hussle's death.

The local rapper, regarded as a symbol of hope in a neighborhood he was trying to rehabilitate, was 33 when he died.

» Nipsey Hussle's Marathon Clothing store shutters its doors