This is the one I learned at Boy Scout camp: https://www.youtube.com/watch?v=rADes6sVSXQ

Here are the lyrics from the video:

"Father Abraham, had many sons,
And many sons had Father Abraham,
And I am one of them, and so are you,
So let's just praise the Lord!"

but in Scout camp, the last line was "As we go marching on."