An adventure is something we promise is going to excite you
(Hahh-ah-ah-ah-ahh)
An adventure is something as thrilling as it can be
(Hahh-ah-ah-hah-ah-ah-ahhh)
Adventures make wonderful stories and so we invite you, yeah
(Hoo-hoo-hoo-hoo-hoooh)
To hear about something that happened to my friends and me.
(Hah-ah-ah-ah-ah. Hah-ah-ah-ah-ahhh. Oh! )
(Spoken) Here we go! 
Took off in Elmo's jet
(His jet)
A ride we won't forget
(Won't forget)
And bailed out just below a huge tall mountain
We climbed for hours and hours
(And hours)
Then found some spooky towers
(Spooky towers)
Inside we helped a fellow with his counting
Chorus:
Adventure! 
We swear to you
Adventure! 
Our story's true
We had an adventure today
We had an adventure
Oh, what a thrill
Adventure! 
Say what you will

We opened up the door
(Opened up a door)
And saw a dinosaur
(Uh-oh! A dinosaur)
He was chasing Ernie but that boy got lucky
Quick thinking saved the day
(Saved the day)
We scared that beast away
(Get Back! )
With just a squeak or two from rubber duckie
Repeat chorus
(Go! Go! Go! Go!... continues under next verse)
With the help of a map that I carry in my pocket
We found our way aboard a trashcan rocket. OW! 
Went further out of space than any other singers
And landed on Saturn with some honkers and dingers
We made it back home with the help of Super Grover
Hey, that was some adventure. Too bad it's over
Repeat chorus
Fades out
(Another suggestion for the previously missing line
That now reads "And landed on Saturn..." was this):
"I tell you myself, I met some honkers and dingers"