I remember this, in fact, I have been searching on and off for a long time.
The lyrics and tune I remembered were “Mercury, Venus, Earth and Mars…” but it was useless to search because the lyrics are so common!
Thanks for finding it.
The other lyrics I remember is:
“Seven miles a second
Seven miles a second
A rocket ship could make the trip in
Seven miles a second”
I found it at A Child's Introduction To Outer Space (Side 1) - YouTube and A Child's Introduction To Outer Space (Side 2) - YouTube