Wonder – who helped induct the music icon into the Rock and Roll Hall of Fame in 2015 – instructed Billboard: “We’d been texting each other.
“He texted me in January telling me how much he appreciated me being there for him.
“Then in February he texted again talking about playing together.
“And I responded that it would be my pleasure, my joy.
“Just let me know and I’ll be there. That’s the last message I got from him.”
The 69-year-old star has known as on his fellow musicians to file an interpretation of certainly one of Withers’ many hits – which additionally embody ‘Lean On Me’ and ‘Lovely Day’ – to hold his legacy “ever sturdy”, whilst he sent his condolences to his widow Marcia and their family.
He added: “May the greatness of Bill Withers live forever.
“People can be listening to his songs and studying his lyrics like they do with nice writers from ages in the past, saying he was superb. And sure, he was.
“We’ve received to present plenty of love to his spouse and kids and hold the legacy of what he left behind going ever sturdy.
“I think every artist, at some point, should record one of his songs on their projects. That’s how you keep it going. He deserves that.”
Withers – who won three Grammy Awards throughout his illustrious career – stopped making music in the 1980s.
However, his songs have been a beacon of hope for people around the world, and many health care workers and artists have been covering ‘Lean On Me’ as an anthem during the ongoing coronavirus pandemic.
Tributes continue to come in for the much-loved star, with Lenny Kravitz and Beach Boys star Brian Wilson among the latest to honour him.
Lenny tweeted: “Rest in energy Bill Withers. Your voice, your songs, and your whole expression gave us love, hope, and power. My soul at all times has and at all times can be stuffed with your music.”
Whilst the ‘Good Vibrations’ star added: “I’m very unhappy to hear about Bill Withers passing.
“Bill was a “songwriter’s songwriter” and wrote so many great songs like “Ain’t No Sunshine” and “Lean On Me.” A real loss. Love & Mercy to Bill’s family. – Brian (sic)”
Withers is survived by Marcia and their two youngsters, Todd and Kori.