I have finally put together a bunch of tutorial videos of basic steps on how to play Neo Soul using minimal theory. It starts of very basic with building Major and Minor triad / seventh chords. Then I go on to explain how to construct basic Soulful sounding chord progression.
Very minimal theory is required, however I do suggest you have a chord sheet just to refer to for some of the later lesson. You can find many free online.
There are seven videos at present but they will be updated. The download link will still be valid for future updates.