I found the words!

Two Little Boats
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Two little boats are on the sea
(hold baby on lap)

All is calm as calm can be

Gently the wind begins to blow

Two little boats rock to and fro
(rock gently)

Loudly the wind begins to shout

Two little boats are tossed about
(bounce fast)

Gone is the wind, the storm, the rain
(stop rocking)

Two little boats sail on again

Thank you thebestkidsbooksite.com! They had the words! At last! I'm not sure about the bouncing though.