Prince, who died in 2016 at age 58, would have celebrated his 58th birthday Wednesday. To honor the anniversary, the late musician’s sister Tyka Nelson released a music video for her song “End of the Road” that takes fans on a journey through her and her brother’s early life together.

“After Prince passed I wanted to give him one final birthday present and I decided to fulfill his wish, and record this song at Paisley Park,” she says, referring to his home and studio in Minnesota, where the singer died last year. “This song poses the question ‘is this the End of The Road?’ and my answer is I don’t think so! I will see all three of my beautiful family members someday again.”

Nelson and Apollo V wrote the song, while Empire executive producer Sanaa Hamri directed the video. A longtime friend of Prince’s, she also directed the clip for his 2004 song “Musicology.”

The video features many never-before-seen family photos of young Prince and includes new footage of several landmarks in his life: The white house shown in the beginning was his childhood home at 539 Newton in Minneapolis, and the yellow house seen closer to the end was where his and Nelson’s parents moved in 1965. The First Avenue nightclub is the one featured in Purple Rain where he got his start as a young performer, and he owned the red guitar illuminated in the background. The teddy bear featured in the clip was a gift to Nelson from her brother.