After tearing up the 2014 BET Awards with her new track, 'It's Your World,' Jennifer Hudson releases the full song with guest vocals by R. Kelly.

"I'll be your servant, your slave, everything you ever wanted, baby," J Hud sings to her man in the upbeat, dance effort, which will be featured on her forthcoming third album.

Kellz jumps in the end with his response. "See, a woman like you baby, shouldn't have to ask for nothing baby," he sings.

Though Hudson performed the track during the BET Awards Sunday (June 29), R. Kelly didn't join her onstage for the live version.

The 'American Idol' winner described the sound of her new album as making fans "happy." “I think it’s more of a feeling, more than a genre, and I’ve had the pleasure of working with Pharrell and Timbaland, and I love their process,” Hudson said. “They allow you to express yourself musically as an artist, as a writer, in every way. It’s been a lot of fun.”

Listen to a sampler of the album, including snippets of 'Dangerous' and 'He Ain't Goin' Nowhere,' below.

Listen to Jennifer Hudson's 'It's Your World' Feat. R. Kelly

Listen to a Preview of Jennifer Hudson's New Album