Yes, I do know this is not grammatically correct, but it does sound a lot better then "Let Us Go" and . . . it's sort of from the prospective of a small child, who wouldn't care if they were being grammatically incorrect. I actually wrote this at the beach . . .

Let’s Us Go

let’s us go
go out
out to the sea
the green sea

come with me: we’ll go
go far
far to the sea
the noisy sea

come with me
let’s us go to the sea
far out to the sea
the noisy green sea

. . . I promise not to splash.