I Hide My Dromedary by Jack Prelutsky
You can find this poem in A Pizza the Size of the Sun page 146 published by Greenwillow Press.
I have included only the first line of the poem so you can see how the words fit in with the music.
Mallets 1 - Alto Xylophone
Mallets 2 - Bass Xylophone
percussion - temple blocks
We usually have a fermata on the word "there" before we get to the 'punch line' of the poem.