Actually no, there aren't.
Fans have been "bah-da-bah-da-da"-ing along in their heads since the show premiered in 1972, assuming all the while that there must have been actual words they were replacing, but there never were any.
The song first appeared along with the classic sitcom in '72, but the song's composer, the legendary Quincy Jones, released it a year later on his "You've Got It Bad Girl" album. The album version was an extended cut of what fans were hearing every week on NBC, but no lyrics were added; the song remained an instrumental jazz/funk track, which Jones was certainly no stranger to.
Though it never charted very well, Jones released it as a single as well in 1973.
Jones is a legend in the music business, as well as the TV business. He's served as a producer on several great shows, as well as of course a composer, penning the themes for such classic shows as "Ironside" and "In the Heat of the Night" as well.
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