This was back in 2003. and then there was the 2004 video "Just lose it", which Michael was very hurt by and asked the music channels to stop playing it and BET pulled it.
However after those incidents and Michael's comments saying that he's hurt , Eminem in an 2004 interview with MTV apologized from Michael saying that he was just making a joke (and that he disses a lot of people in his videos and so on) and he didn't intentionally want to hurt Michael.
This is the transcript of his apology / explanation
Sway: One of your other MO's is poking fun at iconic figures. When the "Just Lose It" video came out, you caught flack from some fans and other entertainers, but the most notable was the King of Pop himself. How do you respond to Michael Jackson's statement that you attacked him, and does that influence what you do next?
Eminem: Well, the way I've always taken it is step-by-step. But as far as the Michael Jackson thing, that was never intended to be anything more than just a pun. Like, the whole concept of the video was supposed to be Eminem over here doing the one-man show, dressing up as '80s pop icons, and then the club next door was supposed to be me in the "8 Mile" club.
So it's spoofing the movie, it was spoofing pop icons from the '80s, and there was nothing that we did in the video that I felt wasn't true about Michael Jackson. With you saying that I've become a target for people to take shots at, I have. So when I f--- up or I do something that people don't agree with, then I become the target. So you've got to be able to take it as well as dish it out, and if you're going to dish it out, you got to be able to take it.
Sway: Michael retaliated by speaking out publicly against you. Will you get into an exchange of words or music with him?
Eminem: No, I wouldn't. It wasn't even intended to be that way. In all honesty, his personal business and what he's got going on, I'm neither here nor there with it. I'm not the one to judge. But as far as his music, the man is a legend. Everybody out there who is anywhere near our age range grew up listening to Michael Jackson. I mean, there was a point in time where Michael Jackson was more popular than the president. People would know who Michael Jackson was before they would know the president's name.
http://www.mtv.com/bands/e/eminem/news_feature_111704/index.jhtml