It was from the early to mid-90's, possibly sooner, but that was when I got mine. My mom picked it up from somewhere... a grocery store maybe? I doubt it was second-hand.
The video was designed for parents and kids to do together, so the kids in the video had their parents with them. Each parent/child had a matching shirt and every "team" was a different color. The "leader" was a blond lady who wore either pink or red. I also remember an Asian mother/daughter, but I don't remember their color. Those are the only people I really remember. I want to say that they were all female, but there could have been some boys. Anyway, they were going on an adventure to... Africa I think? Or maybe somewhere in Asia, because they wanted to see an elephant. The backgrounds were animated and I want to say they had a "scribbled" effect. When they decided where they would go, they stood on an animated map.
There were lots of songs and basic jumping around. I remember at the end they actually do meet the elephant, but I don't remember much about it. I remember that because it was an adventure type of tape, they were constantly shifting to different backgrounds.
Unfortunately, there really is only one part that I remember well enough to recount. About halfway through, they get hungry and decide to sing the "peanuuuut peanut butter AND JELLY!" song. It may have been a different song now that I think about it, but it was definitely about peanut butter and jelly, and the verses were about how to cut the sandwich. The exercise was sitting on the ground with both legs spread, then throughout the song you would grasp your toes in different ways (signifying the way that they "cut" the sandwich.)
I know it sounds kind of vague and maybe a bit of a one shot, but I was reminded of it the other day and would love to find it again. I remembered because I had a working mother of the '90s who was always tired when she got off work, so we didn't really do it that often. But now, Mom and I do Zumba together so it sort of sparked that memory.