Australian dance choreographer Wade Robson has alleged in a US TV interview how a "magical" first visit to Michael Jackson's Neverland Ranch as a seven-year-old boy led to the pop star sexually abusing him.

Robson, now 36, and another alleged Jackson victim, American James Safechuck, 40, feature in the controversial new two-part documentary, Leaving Neverland, that recently premiered at the Sundance Film Festival.

Jackson was touring Australia when he first met five-year-old dance prodigy Robson, a friendship grew and Robson and his family were invited to stay at Neverland Ranch in California.

"This was just the most magical thing I'd ever seen," Robson, describing visiting Neverland for the first time, told CBS This Morning on Thursday.

On a tour of the property Robson alleged Jackson gave him and his sister the option of staying the night in a guest room or with him.

"And my reaction was, 'Of course, I want stay with you'," Robson said.

When it was time for Robson's family to leave the ranch and visit the Grand Canyon, Robson said he and Jackson were so upset they cried.

Robson said he was allowed to stay the week with Jackson alone, but the first or second night Jackson allegedly started "to touch my legs and touch my crotch over my pants".

"It progressed to him performing oral sex on me, him showing me how to perform oral sex on him," Robson alleged.

Robson said Jackson told him, "God brought us together. We love each other ... and this is how we show each other our love."

Safechuck, who was nine when he first met Jackson when he was cast in a Pepsi commercial, said the pop star groomed him in a similar way.

Jackson's brothers Jackie, Marlon and Tito and nephew Taj have rejected the allegations, and accused Robson and Safechuck of being motivated by money.

Robson and Safechuck said they were not compensated for participating in the documentary and have no stake in it.

Robson, who went on to work with Britney Spears and boy band NSYNC, previously was a staunch supporter of Jackson, with the Australian testifying at Jackson's 2005 criminal trial in California involving another alleged child victim.

Jackson was acquitted after Robson testified Jackson never sexually abused him.

Jackson died in 2009 and in a surprise move, Robson went public with his abuse claims and filed a civil lawsuit against the Jackson estate alleging he had been molested by the pop star from the age of seven to 14.

A Los Angeles judge tossed the case in 2015, ruling Robson waited too long to file and missed the 12-month statutory deadline after Jackson's death.

The judge did not rule on the credibility of Robson's allegations.

Robson and Safechuck said it was not until they had their own children that they came to terms with what they claim Jackson did to them.

© AAP 2019

 If you or anyone you know needs support, contact Lifeline on 13 11 14 or visit their website at www.lifeline.org.au