| # | Track Title | Artist | Composer | Time |
|---|---|---|---|---|
| 1 | Program Start; Velvet Rope | Janet Jackson, James (Jimmy Jam) Harris III, Terry Lewis, Rene Elizondo Jr., Malcolm Mclaren, Trevor Horn, Mike Oldfield | 6:36 | |
| 2 | If | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III | 5:24 | |
| 3 | You | Janet Jackson, James (Jimmy Jam) Harris III, Terry Lewis, Rene Elizondo Jr., Harold Brown, Sylvester Allen, Morris Dickerson, Howard Scott, Leroy Jordan, Lee Oskar, Charles Miller | 5:33 | |
| 4 | Let's Wait Awhile/Again | Janet Jackson, James (Jimmy Jam) Harris Iii, Terry Lewis, Melanie Andrews / Janet Jackson, James (Jimmy Jam) Harris III, Terry Lewis | 8:49 | |
| 5 | Control Medley | 8:53 | ||
| 6 | Throb | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III | 6:54 | |
| 7 | Escapade Medley | 11:53 | ||
| 8 | Alright | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III | 4:08 | |
| 9 | I Get Lonely | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III, Rene Elizondo Jr. | 4:46 | |
| 10 | Any Time, Any Place | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III | 3:41 | |
| 11 | Rope Burn | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III, Rene Elizondo Jr. | 4:58 | |
| 12 | Black Cat | Janet Jackson | 3:31 | |
| 13 | What About | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III, Rene Elizondo Jr. | 9:42 | |
| 14 | Rhythm Nation | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III | 5:37 | |
| 15 | Special | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III, Rene Elizondo Jr. | 4:44 | |
| 16 | That's The Way Love Goes | Janet Jackson, James (Jimmy Jam) Harris III, Terry Lewis, Fred Wesley, Charles Bobbit, John Starks, James Brown | 4:54 | |
| 17 | Got 'til It's Gone | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III, Roberta Mitchell, Kamaal Ibn Fareed | 10:04 | |
| 18 | Go Deep | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III, Rene Elizondo Jr. | 3:30 | |
| 19 | Together Again / End Credits | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III, Rene Elizondo Jr. | 7:20 | |
| Total Time: | 2:00:57 | |||
Album Notes
This DVD is part of a 2-DVD collector's edition, consisting of Live In Hawaii and The Velvet Rope Tour.
Track 5: Control Medley songs and composers:
Control (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
The Pleasure Principle (composer: Monte Moir)
What Have You Done For Me Lately (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Nasty (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
----------------------
Track 7: Escapade Medley songs and composers:
Escapade (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
When I Think Of You (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Miss You Much (composers: Terry Lewis, James (Jimmy Jam) Harris III)
Runaway (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Love Will Never Do (Without You) (composers: Terry Lewis, James (Jimmy Jam) Harris III)
Track 5: Control Medley songs and composers:
Control (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
The Pleasure Principle (composer: Monte Moir)
What Have You Done For Me Lately (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Nasty (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
----------------------
Track 7: Escapade Medley songs and composers:
Escapade (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
When I Think Of You (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Miss You Much (composers: Terry Lewis, James (Jimmy Jam) Harris III)
Runaway (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Love Will Never Do (Without You) (composers: Terry Lewis, James (Jimmy Jam) Harris III)