Well, if I were to consider Madonna's career in pop music, I would say that the Erotica album/era is in fact the most forgotten portion.
(Erotica peaked at #2 on the Billboard 200 and spawned four Top 40 hits. And I don't think any of them get airplay.)
And why is this? Perhaps it is because Madonna was at that time infamous for making a coffee table book in which she was wearing very little, if any, clothing. (Now she's just infamous for continuing to dress like she were still that age.) Or it may have been because the songs from this album were not as successful as singles from other albums of hers. Wikipedia* reports that no song from the album Erotica charted any higher than number three. Or maybe the pop-music populace didn't care as much for the songs of that era in which, as Idolator.com says (in a list of the 10 most forgotten Madonna songs--in which "Erotica" does not appear), Madonna "gabbed through tracks rather than singing on them."
In any case, regardless of the reason, I personally do not believe that I have heard the title track on any radio station since its original run on the Hot 100 in late 1992/early 1993. And this I find rather strange, since it had such a strong debut, per Wikipedia*; it debuted at number thirteen and reached its peak position of number three the next week, lasting 18 weeks on the Hot 100. It also reached number two on Billboard's airplay chart (debuting and peaking at that position on October 17, 1992), which makes it doubly strange to me that it now receives, as far as I can tell, absolutely no airplay now.
According to commenter "BLT" at SongMeanings.net, Madonna intended this song to serve as a fantasy of "crazy and nasty things that go through [one's] mind," but are never acted on.
The video, which may presently be found on YouTube, was banned by MTV for content reasons, which, given the high standards of MTV, should tell you a lot. This video will not be presented here, sorry. (No, this is not a SOPA thing, this is me not wanting to show it.) A portion of the audio, however, is presented here for your pleasure through the courtesy of our friends at Amazon.com.
You can also buy the whole album here:
*Note: some information on this blog comes from the always-reliable Wikipedia; as such, its veracity may be questionable.
Second note: I get a pittance from Amazon sales through links from this blog.