The 33-year-old singer enlisted the help of Beyoncé and Kelly Rowland on the new track and video. The trio's last release as Destiny's Child was the single "Nuclear" in January 2013.
"Working together with Destiny's Child again was amazing," Williams said Wednesday on Good Morning America. "I am just so moved by this moment right now and to have my girls on there."
"Sometimes the director or production assistants had to say like, 'OK, girls, bring it back home,'" she continues. "Because when we were together, we go back to how we were when we were younger, just always laughing and talking about things. It's been a great moment."
The music video debuted during her appearance on the morning program. The upbeat track features the group's signature harmonies, and is based on Nigerian gospel hymn "When Jesus Says Yes." The song will appear on Williams' upcoming album Journey to Freedom, out September 9.