She penned a heartbreaking note in memory of the late singer and posted it on Twitter.
I know u r there shining down on me.
#ConversationsInACafe pic.twitter.com/5YvSSttV1I
ā Janet Jackson (@JanetJackson) August 25, 2015
Alongside the caption "I know u r there shining down on me", her note read: "What I shared with u [is] ever sacred, everlasting [and] it's pure and it will endure. I love u Aaliyah. #RIP."
Aaliyah was open about her love of Jackson before her untimely death in 2001, and expressed a desire to work with her on more than one occasion.
Unfortunately, the pair never got the chance to collaborate - something Jackson obviously regrets.
What to Read Next
Earlier this month, Timbaland confirmed that he intends to release previously unheard music from the late singer.
Aaliyah was the subject of a controversial biopic last year, which was criticised for its poor casting as well as its depiction of her relationship with R Kelly.
Watch the music video for Aaliyah's 'Rock the Boat' below:
