“Untitled (How Does It Feel)” became notorious for its sexually charged video featuring a series of lingering shots of D'Angelo’s nude body that split the difference between mass voyeurism and personal intimacy.

However, the rapturous intensity in his lushly multi-tracked vocal performance still holds more weight than any pin-up shot could—swooping and diving, gliding smoothly over the sway of the beat only to punctuate it with a sharp hitch or an extension of his deceptively delicate falsetto into an intense wail. The musical backing only adds to that euphoria, with gospel-soul pianos direct from Aretha’s Muscle Shoals sessions intertwined with pre-Dirty Mind (but still dirty-minded) Prince guitars.

“Untitled (How Does It Feel)” was released as the third single from Voodoo and peaked at #2 on the Hot R&B/Hip-Hop Songs chart.