By writing Remember the Time: Protecting Michael Jackson In His Final Days, the duo say they wanted the world to see a glimpse of the good man and the wonderful father they had the privilege of serving.
Whitfield, who was previously head of security for rapper Sean Combs, writes Mr Jackson trusted no one.
"The man was paranoid. Didn't sleep much. He was always going around the house at three, four in the morning, checking the locks on all the doors," says Whitfield.
"Except for letters from fans and occasional visits from his mother he was just alone with his kids inside this little bubble," says Beard in the book published by Harper Collins and co-written by Tanner Colby.
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