I am particularly interested to learn that the harmonica version of the song and all the harmonica intros and outros used for segment segues during the show are played by Toots Thielemans, the incredible harmonica virtuoso.
A super fun video of Gladys Knight at the Pips singing the Sesame Street Theme:
Sesame Street Theme Words by Bruce Hart, Jon Stone, and Joe Raposo
Music by Joe Raposo
Sunny Day
Sweepin’ the clouds away
On my way to where the air is sweet
Can you tell me how to get,
How to get to Sesame Street
Come and play
Everything’s A-OK
Friendly neighbors there
That’s where we meet
Can you tell me how to get
How to get to Sesame Street
It’s a magic carpet ride
Every door will open wide
To Happy people like you–
Happy people like
What a beautiful
Sunny Day
Sweepin’ the clouds away
On my way to where the air is sweet
Can you tell me how to get,
How to get to Sesame street…
How to get to Sesame Street
How to get to…
This song was published again in 1997 as part of,
The Sesame Street Treasury of Words, Numbers, and Poems (Three Books in One)