The revelations come as part of the upcoming documentary Leaving Neverland, which delves into the accusations of abuse alleged against the late singer.
Safechuck was nine years old when he worked with Jackson on a Pepsi commercial, prompting trips around the world with Jackson.
Jackson diehards have swarmed Twitter under the hashtags #MJInnocent and #LeavingNeverland to defend their idol, who died at age 50 in 2009 of a drug overdose.
Taj Jackson, the singer's nephew, turned his focus on the two accusers in defence of his uncle, claiming they did not have any credibility. The Jackson family has already spoken out about the documentary calling it "a public lynching".
The Daily Mail reports that Robson, 36, who later became a successful choreographer for N*Sync and Britney Spears, originally met Jackson after winning a dance competition in Australia and tickets to Jackson's show in Melbourne, where Jackson put him on stage when he came to the show again on the second night.
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"And when I changed the subject to business his voice dropped several octaves and became a completely different person to talk to". "I was a little boy..."
He added, "NEVER ONCE SWORE IN MY PRESENCE, NEVER TOUCHED ME INAPPROPRIATELY, & NEVER EVER SUGGESTED WE SHOULD BE LOVERS IN ANY WAY!"
The estate has threatened HBO and parent company Time Warner with a $100 million lawsuit, saying that in broadcasting the film, it would be breaking a contract it signed in 1992 when it aired one of Jackson's concerts. I would call him apple head some times.
"He would say that I need to sell him some so I could earn the gift". "[He'd say], 'You know, I didn't have a childhood, I love children so much, that's why I love being around children and I want to help other children have a childhood'". Both Parts 1 and 2 of Leaving Neverland will be available to watch on demand on Monday, March 4th.
Robson said he had testified in 2005 on behalf of Jackson, who was ultimately acquitted of those sexual abuse charges, because "if I was to question Michael and my story with my Michael, it would mean I would have to question everything in my life".