The Crusaders with Bill Withers - Soul Shadows (1980)

From the 1980 album Rhapsody and Blues and featuring the sublime vocals of Bill Withers.
The group shortened their name to The Crusaders in 1971, and adopted a jazz-funk style. They also incorporated the electric bass and electric guitar into their music. Bass guitarist Robert "Pops" Popwell and guitarist Larry Carlton joined the band, and featured on the group's albums throughout most of the 1970s. With this new style came increased crossover appeal, and the group's recordings started to appear on the Billboard pop charts. The height of the group's commercial success came with 1979's Street Life, with Randy Crawford as featuring singer, which peaked at No.18 on the pop album charts and the title track from the album made the Top 10 on the R&B chart and No.36 on Billboard′s Hot 100 chart.
In April 2010, Joe Sample announced a reunion tour with Wayne Henderson and Wilton Felder (but not Stix Hooper); the first reunion of these founding members of the Jazz Crusaders since 1974.

- The Oakland Stroke

The Crusaders - Street Life (1979)

A version of the  iconic tune you might not be aware of: the full album version with the Wilton Felder sax solo at the start.
Its ironic that I didn't really like the album version of the title cut when I first heard, as I thought it was over-long, but now it is one of my two favorite tracks on the album. Its not just the tremendous voice of Randy Crawford, its the awful plain truth of the lyrics. The instrumentals are great too, but the real stand-out is the sax-powered Rodeo Drive (High Steppin'). I can listen to that over and over again.
I've owned the Street Life album for more than 15 years and I never get tired of hearing it as it is positively mesmerising.