In my home, Jesse Martin is not the dude from Law and Order, but Tom Collins from the original stage (and movie) production of the musical Rent. Due out on April 1, 2014 (which would have been Marvin Gaye's 74th birthday), is the Gaye biopic Sexual Healing. Martin replaced Lenny Kravitz as Gaye. We can't think of anyone better to play the soul legend.
Maybe if you sing this particular song around the house on a regular basis, you understand: