This video from the East Coast artist Karen K and the Jitterbugs starts out a bit slowly -- my first thought was, "well, that's nicely produced, but..." so when I say that you should give it a couple minutes before rendering a verdict, I speak from experience. It's a simple kids' song designed for interaction with preschoolers, but it takes a while for the interactive nature to become clear. It also gets funnier as it goes on.
Also: ask your kids if they get the pop culture reference the video's organizing structure is based on.
Karen K and the Jitterbugs - "(I Woke Up) In a Firetruck" [YouTube]