"Higher Ground" is a song of spiritual content, written and recorded in just three hours, with the perfect blend of Motown 70's with punk. The lyrics deal with getting a second chance and making the most of it, and an incitement to wake up and do something to change. It reached No. 1 on the singles chart R&B in the United States. It was covered by the Red Hot Chili Peppers on their 1989 album, Mother's Milk, achieving remarkable success. It also appears in the video game SSX3 (PS2), remixed by X-Ecutioners Remix. the song was also used for movie Karate Kid launched in 2010 and the Guitar Hero 1 along with wavegroup in charge of the whole soundtrack of Guitar Hero1, Guitar Hero 2, part 3 and also appears in the game Rocksmith (PC, PS3, Xbox 360).

The only sound wah-clav in the song was achieved with an envelope filter pedal Mu-tron III. The bass line is provided by a Moog synthesizer. Via overdubs, Wonder played all the instruments on the track, including drums.

In his biography is related how while he remained in a coma after a traffic accident, he only responded by moving his fingers when his manager sang in his ear the lyrics of this song. He said that "I would like to believe in reincarnation, to believe that there is another life. I wrote Higher Ground even before the accident. This is like my second chance to do something or do more, and appreciate the fact that I am alive."

People keep on learnin'
Soldiers keep on warrin'
World keep on turnin'
Cause it won't be too long

Powers keep on lyin'
While your people keep on dyin'
World keep on turnin'
Cause it won't be too long

I'm so darn glad he let me try it again
Cause my last time on earth I lived a whole world of sin
I'm so glad that I know more than I knew then
Gonna keep on tryin'
Till I reach the highest ground

Teachers keep on teachin'
Preachers keep on preachin'
World keep on turnin'
Cause it won't be too long
Oh no

Lovers keep on lovin'
Believers keep on believin'
Sleepers just stop sleepin'
Cause it won't be too long
Oh no

I'm so glad that he let me try it again
Cause my last time on earth I lived a whole world of sin
I'm so glad that I know more than I knew then
Gonna keep on tryin'
Till I reach my highest ground...Whew!
Till I reach my highest ground
No one's gonna bring me down
Oh no
Till I reach my highest ground
Don't you let nobody bring you down (they'll sho 'nuff try)
God is gonna show you higher ground
He's the only friend you have around
(fading)