how to run docker build command in jenkins shell prompt

Question

I want to run docker build command in Jenkins shell prompt.

Have already installed docker and add Jenkins user in docker usergroup.

But when i hit docker build command it shows me permission denied issue and when i am using sudo prefix it ask for password with -S argument.

I am running all commands on Jenkins master, earlier i used on other node server not master.

So what is best way to resolve this.