This song appears on the season 1 episode "The Fuzzlies Camping Trip" and it was sung by the Squeaky Peepers.
Camping, camping is such fun
Put your tent up, then you're done
Build a fire and make s'mores
Do some other camping chores
Now our tent is up and done
Ready for some camping fun
We'll play and hike, do what we please
But what's that hiding in the trees?