And your dog has to say woof

from Kendrick Lamar (Ft. Pharrell Williams) – Good Kid Lyrics on Rap Genius

Meaning

Police dogs are trained to bark at a person when they smell drugs on them.

Kendrick is also mocking the stereotypes society has put in place like “cops are good” or “blacks have to be criminals”, he shows this through the expected actions of a dog.

It’s also a play of words, as a K9 barks to alert something is wrong and they are a dog, “your dog”. Sometimes people refer to their friends as their dog, so this could mean Kendrick’s friend has to alert him that police are around.

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