WHO SINGS THIS SONG!?

I have a song in my head and the chorus is a female singing "I wanna kick it can I come kick it with you... come and swoop me up and do what u wanna do, .... "theres more but i cant remember - its a slow song but its one of my favorite older songs and I CANT REMEMBER WHO SINGS IT... anyone know?!? or have an idea? --- its a r&b / rap song.