The driver says the singer gave him the VHS tape as "a reward or a bonus" for his "transportation services" after he had helped provide transport when Jackson performed in Sao Paulo, Brazil, a few weeks earlier.
Since then, he says, he kept the fact he had the tape to himself - until Jackson's death in 2009, when he disclosed proof of ownership by leaking a very short clip on to YouTube. He was immediately stopped by Jackson's record label and lawyers from the singer's estate, each of whom claimed exclusive rights, and the clip was removed.
But US law dictates the right of possession of a gift, giving the owner the right to sell or transfer to third parties, but not to distribute copies.
The existence of the tape has become a subject of legend among fans.
The two-hour film, which features behind-the-scenes images, contains footage of Jordy Chandler - the boy at the centre of the child-abuse scandal that dogged Jackson.
Appetite for anything Jackson-related has far from diminished since his death and the tape is expected to sell for more than its £4 million ($8 million) reserve when it goes under the hammer on November 27.
Ted Owen, head of Fame Bureau auctioneers, where the tape will be sold, said: "I'm very excited that this tape is finally going to be seen because of its quality, the amount of cameras used and the sheer closeness you are to the performance when watching it."
The world tour, Jackson's second, ran from June 1992 to November 1993 but ended abruptly when he was taken to hospital.
He later became dependent on painkillers, having suffered from dehydration, migraines and injuries.
Jackson died in June 2009 after receiving a fatal overdose of prescription drugs, including the powerful anaesthetic propofol.
This month his personal doctor, Conrad Murray, who administered the drugs, was convicted of the involuntary manslaughter of the singer.
- Independent