Directed by Paul Hunter and Dominique Trenier, the video appears as one shot of a muscular D'Angelo in the nude and lip-synching to the track.

The music video for "Untitled (How Does It Feel)" had a considerable impact on D'Angelo's recording career, as it helped engender an image of him as a sex icon to a younger generation of fans.

[2] The song evokes Prince's earlier work, in particular his balladry, from his Controversy period, as well as his musical style and falsetto vocal technique.

[2][3] As an homage to the musician, Voodoo producer Ahmir "Questlove" Thompson described the song as "finding the line between parody and honesty ...

[2] Production of the song was handled by D'Angelo and fellow neo soul musician Raphael Saadiq, who also contributed with bass and musical arrangements during recording in 1999.

[5] "Untitled (How Does It Feel)" follows a six eight signature, while drum pattern, bass line, guitar and melodic phrasing feature traditional arrangements.

[7] Arrangements for the song are stripped back for an emphasis on vocals, leading to an enormous choral climax accompanied by overdriven electric guitar.

Either as homage or ironic postmodern appropriation, D'Angelo is drawing attention to the fact that he has been influenced by the past masters of his music.

Rather than spend days struggling to come up with a completely new combination of words to deal with a subject that has been dealt with so many times so well—words, that is, which don't sound either clichéd or laboured and awkward—D'Angelo chose to use excerpts from his favourite songs.

"[19] On the song, Andy Peterson of The GW Hatchet wrote that "D’Angelo does a great impression of old-school Prince, full of kinky keyboards, grinding guitars and not-so-subtle lyrics.

"[9] In citing it one of the Greatest Make-Out Songs of All Time, Blender magazine wrote that D'Angelo "set the pace for bump 'n' grind in the Aughts.

[citation needed] About.com writer Mark Edward Nero ranked it number 9 on his list of 20 Best R&B and Soul Songs of the 2000s decade.

[27] The song's music video was directed and produced in one day at a soundstage in New York City by director Paul Hunter and Dominique Trenier, D'Angelo's manager at the time.

[13] The project was originally designed as a part of Trenier's promotional strategy to transform D'Angelo's image and public appeal.

"[13] D'Angelo, who had been under intense physical workout with personal trainer Mark Jenkins, was initially anxious to appear naked in the video upon hearing Trenier's proposal.

[13] In a 2008 interview for Spin, Jenkins discussed D'Angelo's reluctance at the time to the idea for the video, stating "You've got to realize, he'd never looked like that before in his life.

[13][30] It continues with camera close-ups of sweat trickling from his tattooed arms, chiseled chest and abdominal muscles, while also flirting with a peak of his shadowed, muscular hip.

David Peisner of Spin wrote of the close-ups featured in the music video, "As the camera sucks him in, it feels intimate and intrusive, revealing and voyeuristic".

[13] Music critic Jim Farber commented that D'Angelo's torso "sways in grinding rhythm, tensing and releasing as his mouth curls in pleasure and his eyebrows narrow to measure an ecstatic contraction", while claiming that the video has "nothing but close-ups of D'Angelo's buff body on the apparent receiving end of one of life's great payoffs".

[19] On the video's camera range and angle, Stephen Hill, a senior vice president for BET, had stated "It stopped just north of the line where, you know, we would have had issues".

"[34] The music video gained a significant amount of airplay on the BET and MTV networks, as it increased mainstream notice and appeal of D'Angelo upon the release of Voodoo in January 2000.

[28] The music video was presented to a crowd during a promotional party at the Chelsea nightclub Centro-Fly, thrown in celebration of Voodoo's January 2000 release.

[28] According to a New York Times correspondent, one female viewer at the party "recalled sitting at home, staring at the video, while her boyfriend snapped, 'Turn the channel — I don't want to see that gay stuff'".

[28] D'Angelo made an appearance at the WQHT Hot 97 studio as the DJ's Angie Martinez and Funkmaster Flex fielded calls from listeners about the video.

[28] In a 2000 phone interview for The New York Times, D'Angelo maintained a neutral attitude towards general viewer opinion of the video, stating "With men, if there's any negative reaction, I'm not really going to get an honest feedback ... women love it, most definitely.

[31] Farber also lauded the video's depiction of sexuality, stating "it feels like a privilege to be part of such a comfortable act of carnality.

D'Angelo, muscularly cut and glistening, is shot from the hips up, naked, with just enough shown to prompt a slow burning desire in most any woman who sees it.

[40] The digital television MTV Base named "Untitled (How Does It Feel)" number 18 on its list of the Top 100 Greatest Music Videos Ever.

[44] The video's success also lead to mounting frustrations during the supporting tour for Voodoo, during which female fans and audience members would yell out for D'Angelo to take his clothes off on stage.

at the Disco's Brendon Urie said "'Girls / Girls / Boys' is such a racy song that it immediately made me think of one of the sexiest videos of all time, which also happens to be one of my favorites.