Prince and Ian Boxill wrote and produced the tracks between 2006 and 2008, a time when Prince was an independent artist, reported Entertainment Weekly.
"I believe 'Deliverance' is a timely release with everything going on in the world today, and in light of the one-year anniversary of his passing, I hope when people hear Prince singing these songs it will bring comfort to many.
"Prince once told me that he would go to bed every night thinking of ways to bypass major labels and get his music directly to the public. When considering how to release this important work, we decided to go independent because that's what Prince would have wanted," said Boxill in a statement.
The title track now streaming on iTunes, Google Play, and Amazon.