The "Harriet" tape uses an actress to portray the famous abolitionist having sex with her "Massa" so that he would let her run the Underground Railroad, and was posted as part of Def Comedy Jam.
The video has since been taken down.
Simmons later apologized, after being contacted by his "buddies" at the NAACP to ask him to take it down.
"I’m a very liberal person with thick skin," Simmons said.
"My first impression of the Harriet Tubman piece was that it was about what one of actors said in the video, that 162 years later, there’s still tremendous injustice.
"And with Harriet Tubman outwitting the slave master? I thought it was politically correct. Silly me. I can now understand why so many people are upset.
"I have taken down the video. Lastly, I would never condone violence against women in any form, and for all of those I offended, I am sincerely sorry."
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