YorubaAI addresses the digital divide caused by language barriers, particularly for Yoruba language speakers who struggle to interact with advanced large language models (LLMs) like GPT-4, which primarily support high-resource languages. This study develops a system, named YorubaAI, for seamless communication in Yoruba language with LLMs. The YorubaAI enables users to input and receive responses in Yoruba language, both in text and audio formats. To achieve this, a speech-to-text (STT) model is fine-tuned for automatic Yoruba language speech recognition while a text-to-speech (TTS) model is employed for conversion of Yoruba language text to speech equivalent. Direct communication with LLM in low-resource languages like Yoruba language typically yields poor results. To prevent this, a generation technique known as retrieval-augmented generation (RAG) is utilized to augment the LLM's existing knowledge with additional information. The RAG is formed through creation of a database of questions and answers in Yoruba language. This database serves as the primary knowledge base that the YorubaAI uses to retrieve relevant information with respect to the question asked. The content of the created questions and answers database is converted into vector embeddings using Google’s Language-Agnostic BERT Sentence Embedding (LaBSE) model to yield numerical representations that capture the semantic meaning of the texts. The embeddings generated from the Yoruba questions database are stored in a vector store database. These embeddings were essential for efficient search and retrieval.The the two models (STT and TTS models) were integrated with a LLM using a user-friendly interface that was built using the Gradio framework. The STT model achieved a word error rate of 13.06% while the TTS model generated natural-sounding Yoruba language speech. YorubaAI correctly responded to various queries in pure Yoruba language syntax and thus successfully bridges the AI accessibility gap for Yoruba language speakers.