Hussle appeared in the Eif Rivera-directed visual wearing all blue in his South LA neighborhood, while Legend is playing a piano that is moving through the heart of the city.
On the song, which is featured on Khaled's newest album, Father of Asahd, Hussle reflects on his family's ties to the streets, looking at life through his kids' eyes and surviving by God's grace.
"Looking back at life make my heart race," he says of his memories. "Dance with the devil, it test our faith / I was thinkin' chess moves but it was God grace."
"The very title of the song reminds us that vibrating on a 'Higher' level was the essence of Nipsey's soul," Khaled wrote before declaring that all proceeds from the collaboration would be donated to Hussle's children, Emani and Kross.
Watch the video below.