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"Untitled (How Does It Feel)" is a song by American R&B and neo soul musician D'Angelo, released January 1, 2000 on Virgin Records in the United States and in the United Kingdom on EMI in 1999. It was issued as a radio single in promotion of his second studio album Voodoo (2000). The song was written and produced by D'Angelo and R&B musician Raphael Saadiq at Electric Lady Studios in New York City. Originally composed as a tribute to influential musician Prince, "Untitled (How Does It Feel)" contains a vintage style and sound similar to that of Prince's early musical work, and its lyrical content is suggestive of a man's plea to his lover for sex and desire. The song exhibits musical elements of soul, funk, rock, and quiet storm. Much like most of Voodoo, the song contains prominent overdubbing of D'Angelo's vocals.

The song received generally favorable reviews from music writers that praised its similarity to Prince's musical style, and it earned D'Angelo a number of awards. "Untitled (How Does It Feel)" proved to be the most commercially successful single from Voodoo, and it also earned notice for its controversial music video. Directed by Paul Hunter and manager Dominique Trenier, the video consists of entirely one shot featuring a muscular D'Angelo appearing nude and lip-synching to the track. It received much airplay on music video networks such as MTV and BET. While initial reaction to the music video was mixed with praise for its sexuality and accusations of sexual objectification, it earned D'Angelo a number of accolades and helped increase his mainstream notice. The video also contributed the success of the single.

The music video for "Untitled (How Does It Feel)" had a considerable impact on D'Angelo's career, as it helped engender an image of him as a sex icon to a younger generation of fans. This status for D'Angelo lead to his period of absence following the conclusion of the supporting tour for Voodoo. In 2001, the song won a Grammy Award for Best Male R&B Vocal Performance and was nominated for Best R&B Song. The U.K. single's cover artwork is an homage to musician Jimi Hendrix and Electric Lady Studios. Rolling Stone magazine ranked "Untitled (How Does It Feel)" number 4 on its list of the top singles of 2000.