Zacharia Edwards, Mitch Moses and Vince McClean have claimed that they wrote the track in 2002 and later found out that it was illegally performed by Usher, 35, reported TMZ.
The lawsuit says that the trio initially performed the song at Arista Records, the label Usher is signed to.
They played the tune for LA Reid, the then-CEO of the recording company.
Edwards, Moses and McClean said that they never heard back from Arista.
Years later, they heard the song being sung by Usher.