He had just viewed Franklin, who is lying in state at the Charles H. Wright Museum for African American History in Detroit.
Franklin's gospel recordings played in the background as mourners paying their respect approached her casket, pausing as they cried, crossed themselves, bowed their heads or blew kisses to the late singer.
Jackson, who grew up as an adoring fan of the Queen of Soul, will travel to Detroit to pay her respects and to serve as a correspondent for the gospel-based media outlet The Word Network.
"She respected them - she understood that if it were not for them, she wouldn't be who she is", she said.
"Aretha Franklin is a giant of soul music and an American National treasure who continued to be revered around the globe".
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Franklin won 18 Grammy awards and provided a soundtrack to the civil rights movement, singing for free to raise money for the cause and uplifting activists with her phenomenal voice and upbeat anthems.
Franklin's dress has a lace bodice and sleeves with a netted skirt, while her red pumps are from Christian Louboutin.
Swanson, whose family has been in the funeral services business for 60 years, said they were "honored to be able to help" as they did when the "Queen of of Soul" lost her dad.
The two-day viewing is part of a week of commemorations for the acclaimed singer.
It's said former President Bill Clinton will speak at Aretha's memorial, at the Chene Park Amphitheatre, in Detroit, later this week on 30 August. In further symbolic symmetry, Franklin sang at Parks' funeral, which was held at the same Detroit church as Franklin's, and the singer will be entombed in the same cemetery as Parks. Popp told CNN he's been asked to display the auto at the museum Tuesday and Wednesday, as well as drive in the Franklin's funeral procession on Friday. She released her first album in 1956 at the age of 14, sold more than 75 million albums and become the first woman to be inducted into the Rock and Roll Hall of Fame in 1987. Franklin died surrounded by family and loved ones, from advanced pancreatic cancer.