Songfacts®:

• Here, Kehlani sings about keeping a relationship secret. She laments that it is a forbidden love that her friends want her to stay away from. But no matter what anyone says, Kehlani is determined to disregard their opinion and get what she wants.
  
  One way or another, I'ma love ya
  Slidin' under covers
  Undercover
  They don't wanna see it happen, but we say f--- it
  
  When a fan asked via Twitter if "Undercover" is about a lesbian relationship, Kehlani replied: "Fax" (meaning yes that's a fact).
• The song gives a nod to Akon's upbeat number "Don't Matter" by interpolating the song's hook into the first verse. Akon's 2007 hit was his first solo #1 single in the US.
• The sweet, acoustic guitar-driven beat was supplied by Charlie Heat, who is a producer signed to G.O.O.D. Music. "I been trying to do this Latin thing for a while," he told Genius. "The Ty Dolla $ign Campaign mixtape had a lot of Latin flavor to it too, but 'Undercover' is undeniably one of them joints."