Copied from http://www.stormpages.com/anniemation/thelittlemermaid/tipanddash.htm
(The source page has the lyrics color-coded to indicate which character sings which lines, but I decided not to try to reproduce that.)

TIP AND DASH
(Michael And Patty Silversher)

Braving the tides, swarming the sea
Beware barracudas, drop to your knee
Defending our friends and enemies
As big as a whale but with a much smaller tail

Facing the foe with our fearless wit
Daring the dastards to put up their dukes
Great gobs of gore, we'll storm the shore
And seek the unknown, then can we go home?

Titanic Tip and Daring Dash
Adventurers slash explorers
Titanic Tip and Daring Dash
Adventurers slash explorers

We'll save the day and make a splash
Titanic Tip and Daring Dash

We'll clobber those crabs with their clammy claws
We'll sever those sharks with their savage jaws
The battle is fierce and mercifully brief
Because they're heroes they return as kings of the reef

Dine with the best, dressed with a flair
Climbed every mountain because it's there
Come on, follow me, we'll make history
To courage, to us, I'll try it, you're bust!

Titanic Tip and Daring Dash
Adventurers slash explorers
Titanic Tip and Daring Dash
Adventurers slash explorers

We'll save the day and make a splash
Melody, Tip, and Daring Dash
All for three and three for one
Atlantica, here we come!

[From "The Little Mermaid II: Return to the Sea" Original Soundtrack, Disney CD 860685, 2000.]