"It just didn't ring true to me. It felt like a dream," she said. "It's still so difficult for me to believe. It's, you know, you have to accept what is. But it's hard. You have to move on with your life. You have to accept what is and I understand that."
"My brother's favorite song is 'Smile.' And I thought Jermaine sang it beautifully, beautifully. And that's his favorite song as well. ...There being some sort of a closure, I suppose, at that time," she said, getting emotional.
Janet, who has sold 100 million records and became a five-time Grammy award-winning artist, was the youngest of nine children in the brood. Growing up, she said that she was always closest to Michael.
"We were incredibly close," she said, "A lot of similarities, his love for children and me being a baby. …We would practically do everything together from morning to night every day. Everyday."
She recalled how the two would play after school, feeding the animals together at the family's Hayvenhurst compound in Encino, Calif.
"We'd feed all the animals, took care of the babies. All the animals -- giraffes, mouflon sheep, deer, they had fawned. All kinds of animals, all kinds of birds. And I remember I would come home from school with the hay like I'm going to a ranch," she said.
In later years, she famously wore the key to the animal cages in all her music videos -- a memento from her youth.
But Jackson does not look back on all of her childhood memories as fondly.
Living in the shadow of the Jackson 5, then the most famous family act in America, her father Joe Jackson took the reins when it came to her career.
Jackson, who once had dreams of going to college to study business law and pursuing an acting career, said her father changed her career path.
"My father said, 'I think you'll make more money singing than as an actress... And that was it," she said. "Obviously, he saw something. And it's sad that it takes away your childhood. If I had to do it all over again, would I go about it the same way? I would really have to think about that."
Joe Jackson, the patriarch and the driving force behind his children's success, has been accused by Michael and others of being an abusive stage father.
When asked by Roberts if her father was "abusive" or "old school," she said: "You have to keep in mind that I'm the baby...I think it's old school. And that may extrapolate into -- a -- being a little abusive. Do you understand what I'm saying?"
In a July 2009 interview with Chris Connelly, Joe Jackson addressed accusations that his children sacrificed a normal childhood for life on the stage. Joe Jackson denied allegations of beating Michael, but admitted to spanking as a form of physical discipline. He said he did not regret any part of Michael's upbringing.
"I was very young, very young. I can't remember the exact age, but very young, younger than ten, younger than nine. ...I remember when I had called him daddy, and he said, 'No, you call me Joseph, I'm Joseph to you.' Never said it again," she told Roberts. "...We called mother -- everybody called mother, mother. So I don't know, I don't know why. And I've never asked. I've never questioned it. It is what it is, and I just let it go. Joseph."