Kendrick Lamar is facing legal action over his use of a Bill Withers sample.

The rapper used clips of the singer's 1975 song 'Don't You Want To Stay' in his 2009 effort 'I Do This'.

However, representatives of Mattie Music Group have launched legal action against the rapper for copyright infringement.

They claim Lamar's song is "nothing more than new rap and hip hop lyrics set to the existing music of 'Don't You Want To Stay'".

They want damages and for Lamar to stop performing the track.

The rapper released the song on his 2009 self-titled EP.

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Listen to both tracks below: