From The Thad Jones/Mel Lewis Orchestra's excellent 1970 album Consummation. I was first introduced to Us when we played it my freshman year in high school jazz band (I was thrilled to have made it, playing guitar, my freshman year). This song is incredibly groovy - check out the middle section heralded by that bass riff! - great funky bass work throughout, the horns slipping and sliding, and that kind of major key horn melody that I love. Pure Jubilance.
Live on Japanese TV, 1974: