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Paris Jackson may have stepped into the spotlight in the past year, but, until recently, the public knew very little about Michael Jackson's three children. And now, Paris is giving her family's fans a more intimate look into their lives.

To celebrate brother Prince Jackson's 21st birthday, Paris shared a rare home video from their childhood to Instagram on Tuesday morning. In the clip, Michael can be heard telling Paris and Prince to dance while listening to Notorious B.I.G.'s "Juicy." The siblings playfully push each other around in an attempt to outdo the other for cutest kid on camera. The 19-year-old also expressed her love for her older brother in a long caption. "My dearest brother. i could fly to the moon and back a thousand times and the distance still wouldn’t amount to how much i adore you," she wrote. "I’ve always looked up to you, and to this day you’re still the greatest role model i could ever hope for." Jackson then recounted all the games she and her brothers used to play together, including wrestling, Hot Wheels, and My Little Pony. "You’ve always been my best friend in the whole wide universe and i’m so lucky to have you in my life. i couldn’t have wished for our friendship to turn out any better," she continued.

Last year, Paris and Prince made a rare public appearance together, holding hands on the red carpet before a dinner for the Elizabeth Taylor AIDS Foundation. And, almost a year ago, the two got matching yin and yang tattoos. "Sometimes i feel like my big brother and I always think the same thoughts, he just doesn't have a filter and always vocalizes them 😂 though total opposites, like my gooko and I, the inseparable yin and yang work together finding and causing balance within each other," Paris wrote on Instagram. "Matchies with my bestie @princejackson! ❤️"

See the adorable birthday message, below.