On the song's final chorus section, critic Steve McPherson wrote "after it hits a peak, it keeps rising, the chorus of voices fizzing into overdrive and the whole track gradually succumbing to a wash of reverb". The song is cut off in the middle of its culmination, ending with the line "How does it fee-". Co-written by D'Angelo and producer Raphael Saadiq, "Untitled (How Does It Feel)" features sexually-explicit lyrics that follow and narrate a man's plea to his love interest for sex, as demonstrated in the song's second verse: "Love to make you wet / In between your thighs, cause / I love when it comes inside of you / I get so excited when I'm around you, baby". The song's lyrics have been described as "generic pop lyrics". Music critic Andy Peterson described the lyrics as "not–so–subtle", citing the line "Baby close the door / Listen girl, I have something I wanna show you / I wish you’d open up cause I wanna take the walls down with you" as an example. Music journalist Greg Levine cited its lyrics as ""the" generic pop lyrics", while also noting the similarity the lyrics have to those of other classic soul ballads, stating "Each line seems to be directly lifted from Marvin Gaye, Prince, or Curtis Mayfield." Levine elaborated on the lyrical theme of the song:  As the fourth single issued in promotion of D'Angelo's second studio album "Voodoo", "Untitled (How Does It Feel)" featured release in the United Kingdom in 1999 through the EMI record label and in the United States on January 1, 2000 through Virgin Records. In 2000, a 12-inch vinyl release of the single was issued in the U.K. with distribution through EMI. The 12-inch single was released with cover artwork featuring an illustration of musician Jimi Hendrix and an upper caption reading "Electric Lady Studios", serving as an homage to the musician and the recording studio, which were both influential to D'Angelo during the production of "Voodoo". "Untitled (How Does It Feel)" proved to be the greatest chart success of the album's five radio singles, as it peaked at number 25 on the "Billboard" Hot 100 and at number 2 on the Hot R&B/Hip-Hop Singles & Tracks chart. The single entered the Hot R&B/Hip-Hop Singes & Tracks on January 8, 2000 at number 65 and spent 22 consecutive weeks on the chart.