Robin Thicke took the stage in New York's Rockefeller Plaza on Tuesday to sing Blurred Lines and was asked to address the controversy that the song is sexist.

After singing his first piece for Today's summer concert series, Thicke talked about what Blurred Lines is really about.

"It's actually a feminist movement in itself," he noted. "It's saying that women and men are equals as animals and as power...it doesn't matter whether you're a good girl or a bad girl. You can still have a good time."

Thicke mentioned that one of the lyrics says, "That man is not your maker," and revealed it actually describes "what the relationships between men and women are."

"I think that's what great art does," Thicke said about the controversy. "It's supposed to stir conversations. It's supposed to make us talk about what's important."

The 36-year-old singer added he had "nothing but the most respect for women and my wife." Thicke has been with Mission Impossible's Paula Patton since they were teenagers. The couple married June 2005 and have one son together, Julian Fuego, 3 years old.

"So for us, we were just trying to make a funny song. And sometimes the lyrics can get misconstrued when you're just trying to put people on the dance floor and have a good time, but we had no idea that it would stir this much controversy and that kind of stuff," Thicke said.

The R&B singer finished the set with his new single, Take It Easy On Me, which he joked, "I would like to say [that] to everyone out there."

Blurred Lines, released in March, also features rapper T.I. and Pharrell. Watch the video below of Thicke performing on NBC's Today Show on July 30.