In a rare interview, pop icon Janet Jackson is opening up about growing up a Jackson – and how that will differ for her own child.

Months after the debut of HBO's "Leaving Neverland" documentary, detailing allegations of child molestation against Michael Jackson, his youngest sister is saying she believes his legacy will live on. Jackson died on June 25, 2009.

“It will continue," she told The Sunday Times of London. "I love it when I see kids emulating him, when adults still listen to his music. It just lets you know the impact that my family has had on the world. I hope I’m not sounding arrogant in any way – I’m just stating what is. It’s really all God’s doing, and I’m just thankful for that.”

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Janet, 53, who is in the middle of a summer Las Vegas residency, has both fond and "grueling" memories of working with her family at such a young age. She recalled helping her brothers with "charitable acts": Michael, then in his late teens, would buy barbecue dinners and they would drive around town "looking for homeless people to feed."

But she still laments being deprived of a proper childhood.

“You really miss out,” she said. “You don’t get to do all the fun things that kids do. I wanted to do gymnastics, but that couldn’t happen because I was busy working. But at least I had my brothers and sisters. They were my best friends.”

She also opened up about once telling dad Joe that she was interested in stepping away from music and going to school to study business law: "My father told me no. ... He felt that God had a different path for me."

Jackson says she feels she "did say everything" to Joe that she needed to before her father died nearly a year ago, adding that her own son, 2½ -year-old Eissa, will be free to choose his own path.

"I was thankful for the time that I did have with him, with Eissa, the three of us together," she said. "Being together with my father in the end."

The pop star acknowledged struggling with tabloid headlines after announcing her divorce from husband Wissam Al Mana in May 2017, just months after welcoming her first child. She said therapy has helpful in getting through tough times.

"It’s never going to be an easy ride, but we’re going to get through this," she said. I’ve done a lot in my life and it’s about having fun, continuing to have fun. There are still things that I do want to do in life, but if I don’t get to do those things, then I’m good. I have a son and he’s beautiful. He’s my light.”