Jackson co-wrote and co-produced "If" with Jimmy Jam and Terry Lewis, with Harvey Fuqua, John Bristol and Jackey Beavers receiving songwriting credits for the sampling of their composition "Someday We'll Be Together", performed by Diana Ross & the Supremes.

The accompanying music video for "If", directed by Dominic Sena, portrays voyeurism, sensuality and intense choreography, while depicting technology that was unavailable at the time, such as touch screens and web cameras.

Wailing guitar chords and hip-hop programming move this punchy, fast-paced dance number as Jackson creates erotic pictures in the mind of her soon-to-be lover to get to his physique."

The song's theme of avoiding temptation to interfere with monogamy was also noted, adding "Though Jackson lets her mind race with naughty thoughts [...], she ultimately stops herself from going after someone else's man.

He added, "Her honey-sweet voice bounces off cyborg guitar riffing, taking the rhythm-rock vibe of her Rhythm Nation hit "Black Cat" to a more intense level.

"[9] David Browne from Entertainment Weekly exclaimed it "takes Jackson into exciting new terrain," blending her vocals with "a traffic jam in a city of cyborgs.

"[10] A writer for Idolator called it an "industrial dance/sex epic" in addition to "infectious and raunchy," saying "Janet Jackson's unmistakable voice is used to perfection to create an eerily tropical but beautiful track.

Jackson's vocals were delivered at "break-neck speed, practically rapping about the salacious pleasures of her lover," while its production had "a lot of styles on display," including "distorted synth meets acoustic guitar.

"[15] Jon Pareles of The New York Times observed the song to open with a "screaming guitar and a chanted verse, rising to a sweet melody.

[18] Dave Ritz from Rolling Stone qualified it as both "subtle and bold," with Jackson's "bedroom fantasies" given "a fierce dressing-up — tough jeep beats, hard-rock guitar, and a Diana Ross & The Supremes sample — and some missed just what she was on about.

album was a big sex-fest from beginning to end but nowhere was it hotter than 'If'," labeling the chorus "infectious, at the same time bitchy and vulnerable, defiant and desperate."

"[21] Sal Cinquemani of Slant Magazine said its content was "impending or simply imagined", adding "the very title of which embodies that fact, is essentially about masturbation, with Janet describing what her lover's "smooth and shiny [cock]" feels like against her lips while ostensibly rubbing herself off under the covers".

"[24] An anecdote also stated Jackson became "the sex kitten every man dreamed she would be," opposed to formerly known as "a sweet fresh faced girl singing little ditties about young love."

[36][37] The accompanying music video for "If" was directed by American director Dominic Sena and choreographed by Tina Landon and Jackson, with additional choreography by Omar Lopez and Keith Williams.

[38] The video was also thought to have a "Blasian" theme, portraying interracial lust in the clip's "body language, the atmosphere and her smoldering off-stage eye contact" with Jackson's male interest, Michael Gregory Gong.

The inside of the bordello is then shown as a green light turns on, signaling male dancers to be lowered from the ceiling, who descend upside down on ropes in a winding fashion simulating a corkscrew.

Multiple screens are shown, and a man watching some of the other patron on the monitor uses the futuristic touch-screen to select angles of the performance on the main stage.

As Jackson continues entertaining the crowd, the woman who was originally shown entering the bordello is again seen walking through the event, quickly paying one of the guards to allow her into the club's private sector.

The video's final dance sequence begins, with Janet grabbing a male dancer's crotch region and simulating oral sex, before placing him on the floor and bending him over.

The video ends with the man in the audience passionately touching an image of Janet on the monitor, as the woman who was shown entering the club is then seen exiting and walking towards the village.

"[7] The video's "seductive style of movement" was heralded as an evolution, replacing bulky militant uniforms with "midriff baring tops and chokers," embracing her "womanhood and sexuality.

"[36] Jackson's balance of masculine ensemble with feminine outfits was also regarded as an immense part of her appeal, saying "Janet was the queen of tomboy looks and a full fledged sex symbol at the same time.

[51] Elements of the "If" choreography has been referenced frequently, including "multiple videos" by Britney Spears, Beyoncé, Lady Gaga, Jennifer Lopez, Pink, Ciara, Mýa, Missy Elliott, and N' Sync, with specific examples including Christina Milian's "Dip It Low", Lil' Kim's "No Matter What They Say", and Paula Abdul's "My Love Is for Real".

[57] Lenny Stoute of the Toronto Star stated "This pelvic-thrusting, butt-wiggling, lip-licking high-energy temptress is a long way from the cute 'n' chubby girl next door of her previous Rhythm Nation tour.

"[62][63] An additional critique declared routine "defined her career and set her apart from contemporaries, including the newer crop of performers," adding "the in-you-face-sexy "If" made it "apparent that Ms. Jackson hasn't lost a step — even at 45.

"[65] Rakesh Satwell of New York Magazine praised "If" as "a punch to the eardrum," declaring that it remains "as fresh as it did then" and a departure from radio trends twenty years after its release.

The song was commended as a "more impressive feat" for sounding "as it if it's from the future," in contrast to hits such as Robin Thicke's "Blurred Lines" and Outkast's "Hey Ya!"

The orchestral sample used twice was regarded as "genius" as an "innocuous but extremely effective garnish," allowing Jackson to "seethe with intensity" over the sound of "multiple drones."

Over filtered production suggesting "a cybernetic logjam," the song effectively "prowls, marking its prey, staking its claim," likened to Jackson "playing with your mind".

Okayfuture described it as a "bubbly, reverb infused, deep bass remix", and Hypetrak said "Janet was one of the most influential pop albums during the early nineties.