In 1998, Saadiq departed from his group Tony! Toni! Toné!, following the release of their final studio album House of Music (1996). The following year, Saadiq contacted Ali Shaheed Muhammad and Dawn Robinson with the idea of forming a new supergroup. After Muhammad and Robinson accepted Saadiq's offer, the group officially formed and began recording an album under the group name Lucy Pearl.
In November 2000, Lucy Pearl appeared on the BET show 106 & Park to announce the new addition of singer Joi to the lineup.[3] The group also debuted their music video for the single "Without You". After the release of the final single "You", Lucy Pearl disbanded in late 2001. Both Robinson and Saadiq continue to perform Lucy Pearl songs during their individual tour sets.
In 2009, a reunion was attempted but failed after Muhammad started a lawsuit against Saadiq.[4] Robinson declined the reunion after Saadiq initially refused to move forward with the release of the Lucy Pearl album in 1999, which caused Robinson to lose her home.[5] Robinson also cited Saadiq's jealousy towards herself and Muhammad as another reason for declining a reunion.[4] In 2020, Robinson participated in various interviews, discussing Lucy Pearl. Robinson explained that the group was originally formed to do one album and after their tour was complete, the group had already agreed to disband. Robinson also alleged that she didn't know she was replaced until being contacted for an interview by a Rolling Stone magazine journalist and later saw Saadiq and Muhammad along with Joi on the television show 106 & Park.