| # | Track Title | Artist | Composer | Time |
|---|---|---|---|---|
| 1 | Introduction | 1:53 | ||
| 2 | Come On Get Up | Janet Jackson, James (Jimmy Jam) Harris III, Terry Lewis, Dana Stinson | 5:13 | |
| 3 | You Ain't Right | Janet Jackson, James (Jimmy Jam) Harris III, Terry Lewis, Dana Stinson | 2:59 | |
| 4 | All For You | Janet Jackson, James (Jimmy Jam) Harris III, Terry Lewis, Wayne Garfield Jackson, James (Jimmy Jam) Harris III, Terry Lewis, David Romani, Mauro Malavasi | 4:09 | |
| 5 | Love Will Never Do (Without You) | James (Jimmy Jam) Harris III, Terry Lewis | 4:00 | |
| 6 | Trust A Try | Janet Jackson, James (Jimmy Jam) Harris III, Terry Lewis, Dana Stinson | 5:35 | |
| 7 | Come Back To Me | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III | 2:10 | |
| 8 | Let's Wait Awhile | Janet Jackson, James (Jimmy Jam) Harris III, Terry Lewis, Melanie Andrews | 1:41 | |
| 9 | Again | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III | 7:02 | |
| 10 | Escapade Medley | 7:59 | ||
| 11 | Son Of A Gun | Janet Jackson, James (Jimmy Jam) Harris III, Terry Lewis, Carly Simon | 3:47 | |
| 12 | Got 'til It's Gone | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III, Roberta Mitchell, Kamaal Ibn Fareed | 3:12 | |
| 13 | That's The Way Love Goes | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III | 2:58 | |
| 14 | Nasty Medley | 12:37 | ||
| 15 | Would You Mind | James (Jimmy Jam) Harris III, Terry Lewis, Rockwilder, Janet Jackson | 9:41 | |
| 16 | If | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III | 5:38 | |
| 17 | Black Cat | Janet Jackson | 4:40 | |
| 18 | Rhythm Nation | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III | 7:40 | |
| 19 | Doesn't Really Matter | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III | 10:40 | |
| 20 | Someone To Call My Lover | Janet Jackson, James (Jimmy Jam) Harris III, Terry Lewis, Dewey Bunnell | 3:23 | |
| 21 | Together Again | Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III, Rene Elizondo Jr. | 7:30 | |
| Total Time: | 1:54:27 | |||
Album Notes
This DVD is part of a 2-DVD collector's edition, consisting of Live In Hawaii and The Velvet Rope Tour.
Track 10: Escapade Medley consists of the following songs:
Runaway (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Miss You Much (composers: Terry Lewis, James (Jimmy Jam) Harris III)
When I Think Of You (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Escapade (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
----------------------
Track 14: Nasty Medley consists of the following songs:
What Have You Done For Me Lately (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Control (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Nasty (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Track 10: Escapade Medley consists of the following songs:
Runaway (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Miss You Much (composers: Terry Lewis, James (Jimmy Jam) Harris III)
When I Think Of You (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Escapade (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
----------------------
Track 14: Nasty Medley consists of the following songs:
What Have You Done For Me Lately (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Control (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)
Nasty (composers: Janet Jackson, Terry Lewis, James (Jimmy Jam) Harris III)