Jackson sang the lyrics while Fallon and The Roots recreated the track by using wood blocks, hand clappers, a kazoo, bongos and a tambourine, among other items on Wednesday.
"I've seen the world, been to many places/ Made lots of friends, many different races/ I've had such fun around the world it's true/ African skies with a Nairobi mood/ I fell asleep in Tuscany and dreamed/ The one thing missing was you," Jackson sang.
Fallon and The Roots also provided backup vocals. The group performed the song huddled together while nature footage appeared on a screen behind them.
Jackson was recently a featured guest on The Tonight Show where she discussed the creation of her classic album Control.
The singer is set to release a new album in 2020 titled Black Diamond. Jackson will begin touring North America starting in June.