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 
Right now, I’m without a copy of Truth or Dare but I do remember it well! The only time I’ve ever cried at the movies was when I heard Promise to Try. That was when my fandom with Madonna was sealed and immortalized!