What is the name of this song from Madonna?

Once I downloaded the 'Music' album online, but instead of 'Cyber-Raga', there was another song whose name I can't remember. The lyrics were like:
'Cause only upendo can last, yoo hoo
...
I was always sinking, thinking I was flying
I was always sinking, thinking I was flying"
I can sing these parts, I remember the way she sang 'em. But I have no idea about the title ant the rest of the lyrics. Please tell me what this song is, because I loved it :(