The below video is not me playing, it is Jamal from Gospel Musicians. I would love to be able to play like this but many will be put off trying to follow. I suggest you take it chord by chord and simply practice improvising over 3-4 chords.
Try the initial chords.
Eb Maj 9th
Bb Maj 9th
C Maj 7th or 7th
You will be able to hear the initial groove already, simply use the right hand for voicing like Jamal does.
Once you get familiar with those, then move onto the next group of chords so you can get a feel of Neo Soul. Don’t try looking for scale and theory because that it not what it is about. Once you get that groove and nail it, it is up to the other musicians to work out the melodies they need to play.