Fans are now urging her to share the track called Baby Doll on her next album, or as a special one-off tribute.
As the world mourned the untimely passing of the music legend on April 21, Kylie, 47, released details on Instagram of her special link with Prince.
“My musical crush since my teenage years,” she writes next to an image of Prince’s iconic Purple Rain album cover.
“I met Prince after his concert at London’s Earls Court in 1992. I said I would love to work with him and he said, come visit the studio.
“He asked me where my lyrics were and where would I like my mic set up. Joking with me.
“I did end up giving him lyrics for a song called Baby Doll. His driver delivered a cassette to me later that night.
“It was a demo of Prince singing and playing the song Baby Doll he had written using the lyrics. We never recorded it properly.”
But Kylie says she later had the privilege of visiting Prince at his Minneapolis home called Paisley Park.
“It was a dream come true. Thank you for the music and memories. #ripprince #whendovescry’,”
Fans were quick to flood Kylie’s post with messages pleading the pop princess to release the enigmatic track, with one writing: “@kylieminogue both my favorite artists on one song . You must make this happen! You should release it in his honor he would be proud”.
“Can we hear Baby Doll on your next album?’ asks another.
Kylie has previously spoken about her fondness for Prince, telling the Mirror in 2014 that: “I would love to sing with Prince because he was my obsession as a teenager, literally.”
“I might have paid for his car because I went to see Purple Rain so many times.”
For more details on Prince’s tragic death, click here.