On April 22 2002, In Bed With Madonna (known as Truth Or Dare in North America) was released on DVD.
Google’s synopsis of the documentary:
This documentary chronicles Madonna’s controversial 1990 Blond Ambition World Tour, kicking off in Japan during its rainy season, then traveling to North America with significant stops in Los Angeles, Detroit, Toronto, and New York. The film is a behind-the-scenes look at Madonna’s relationships with her dancers and crew, her then-boyfriend Warren Beatty, and her family and friends, achieving an intimate glimpse into the boundary-pushing singer’s drive and individuality.
Today In Madonna History 
The only time I’ve ever cried at the movies was when I have seen I’m Going to Tell You a Secret, I Am Because We Are, At Close Range, A League of their Own and Truth or Dare-all of them Madonna movies! I am touched and moved by Madonna’s presence!
Such a game changer! Saw it opening night in Dallas (Truth or Dare) and the theater was full. I still remember gasps over the “gay kiss”. M was and still is the ultimate button pusher.