"Come Thru" appears on the R&B rising star's debut album, "Over It," which arrived back in October.
The London on da Track-produced cut notably features a sample of Usher's 1997 hit "You Make Me Wanna," which led his sophomore studio album "My Way."
A few months after the release of her debut LP, Walker unveiled the long-awaited accompanying video for her standout collaboration with the R&B legend.
The sensual visual, directed by Toronto filmmaker Lacey Duke, finds the pair reconnecting in Atlanta's 285 Flea Market at nighttime.
Veteran songwriter and record producer Jermaine Dupri, who co-penned Usher's "You Make Me Wanna," also makes a special appearance in the clip.
"You make me wanna come through/Quarter after two/Just to put it down on you/You make me wanna replay/All of the things/That you and me, we do," Walker and Usher croon in the smooth banger.
Usher is one of several artists who collaborated with the Atlanta vocalist on her debut "Over It."
Drake, PartyNextDoor, 6lack, Bryson Tiller, A Boogie wit da Hoodie and Jhené Aiko made guest appearances on the full-length, which became the most streamed R&B album by a woman artist.
"Over It" charted at No. 2 on the Billboard 200 chart after shifting 134,000 equivalent album units earned in the week ending on October 10, with more than 154 million on-demand audio streams for the album.
The record previously belonged to Beyoncé for her sixth studio effort, "Lemonade," which scored 202,000 units during its debut week in April 2016.
Next April, the R&B rising star will take the stage of the Empire Polo Club during the 2020 edition of Coachella.
This year's lineup is led by Travis Scott, Frank Ocean and Rage Against the Machine, who will headline the Californian festival for the third time.
In the meantime, discover the accompanying video for Walker's "Come Thru":