JOE FRAZIER and MUHAMMAD ALI, two undefeated heavyweight champions, fought an epic championship bout at New York's Madison Square Garden on March 8, 1971. Frazier won in a unanimous decision. Boxing historian DON MAJESKI was there. He plots the men's paths to that fight and conveys the arena's electric atmosphere. "It was the best investment I ever made," he says of his $35 ticket. WEATTA FRAZIER COLLINS and JOE FRAZIER JR. speak lovingly of their late father and say that defeating Ali meant a lot to him. Their foundation aiding at-risk youth advances Frazier's legacy. "I believe," she says, "that our father is smiling down on us."