I do not know this song you are referring to, but I recognize some of the lyrics from a song I saw a video of, from a live show with Ray Charles and Aretha Franklin at the Filmore in the 1960's, the tune was called Spirit in the Dark.

I actually perform that song, Spirit in the Dark...it is a sort of gospel song, but it has a part that says, "It's like sally walker, sittin in her saucer, that's how you do it, so get on up to it, ride, sally ride, put your hands on your hips and cover your eyes, and move, with spirit, come on and move with spirit, are you gettin the spirit, are you gettin it in the dark?"