From the recording Get On The Boat

Get On The Boat is the twelfth and final track on Prince’s 31st studio album 3121.
Exact recording dates are unknown, but it was likely recorded at some point in 2005, at either Paisley Park Studios in Chanhassen, Minnesota, or 3121 Antelo Rd. in Los Angeles, California. A longer version with an additional verse was included as the twelfth and final track on a late 2005 configuration of 3121, before being edited slightly for release. The song’s ending was reused for Indigo Nights, essentially a live instrumental jam, in 2007

Recording Personnel
Prince - all vocals and instruments, except where noted
C.C. Dunham - drums
Joshua Dunham - bass guitar
Maceo Parker - horns
Candy Dulfer - horns
Greg Boyer - horns
Ray Monteiro - horns
Támar - additional vocals
Sheila E. - percussion