"This world is not going to break you, we won't allow it," he says in a conversation before the interview.
The actor reached out to Woods via FaceTime, as both Jada and her mom Adrienne Banfield Norris joined the conversation off set.
"I didn't think I'd be coming to the table like this, but it's the best place to be," Woods told Will, who she refers to as her uncle.
"That table has mythological cleansing and healing powers," Will said, positive as ever as he spoke to her. "I would have loved to be there, there's a lot of things about our relationship to our family. Jordy's father worked on 'Fresh Prince' before she was born. I know how hard it was for you and your family when he passed."
"I had a deep sense that we would be here one day and what I want to say to you is that the world attacks, it just happens," he continued. "You'll never get around the world attacking, but I want you to know that you are supported and I got you and we got you."
After Woods said his message meant "the world" to her, he gave one final piece of advice. "I would say take your medicine and tell your truth, this is a part of what growing up is," he told her. "This is a part of what learning is, a part of what family is. This world is not going to break you, we won't allow it."
He signed off saying he loved her.
As Jada explained at the top of the episode, Jordyn's late father was a sound engineer on Will's famous sitcom back in the day. The families became close as their sons -- Jordyn's brother Josh and Trey Smith -- started having playdates together.
Jordyn and Will's other son, Jaden, formed a close bond in those early days as well and it was only a matter of time before Kylie entered the picture. The rest is history.
Watch the full interview below. Will's message is about 1:55 into the video.