“Dance with My Father” was written by Luther Vandross and Richard Marx.

Luther Vandross co‑wrote the song as a deeply personal tribute to his late father, drawing on childhood memories of seeing his parents dance and wishing he could share one more dance with him. Richard Marx collaborated with Vandross on composing and writing the song, and he has often spoken publicly about how meaningful that collaboration was in his career.

The track became the title song of Vandross’s 2003 album, went on to win the Grammy Award for Song of the Year in 2004, and is widely regarded as one of his signature works.