Cardi and Joe announced the release via Instagram on Thursday afternoon, just hours before it hit streaming services.
"This song is soo fireeeeeee 🔥," the Invasion of Privacy rapper wrote in a post that unveiled the single's cover art.
"YES" was produced by the production and songwriting duo Cool & Dre. The former confirmed the new record was an official single off Joe's upcoming Family Ties album.
"This one is special, you know what I'm sayin? Puff Daddy told me and Cool way back in the day that every hit record has a story," Dre said in a series of Instagram stories. "And geeze ... let's just put it this way: This one was months in the making, but it was worth the wait ... I think y'all really gonna fuck with it."
You can listen to "YES" now on Apple Music and Spotify. Visuals for the track were also released. Check out the Eif Rivera-directed video up top via YouTube.