It came out most likely around 2002 - 2003 and the lyrics in the chorus go something like these but can't decipher the song on google:

"Rock this don't you stop...Yall"
"Rock this like you should...Yall"
"Rock this til you stop...Yall"

The shouting "yall" part comes 2 seconds after should/stop whichever word ends in the line of the chorus

It sounds like Lenny Kravitz but there's a good chance it's not him and the guitar riff has a catchy funk to it