Best Answer: Dennis Tufano and Mindy Sterling sang the theme song used in the first season. The theme song for seasons 2-7 was sung by Johnny Mathis and Deniece Williams. You can find both of them here: http://www.sitcomsonline.com/familytiess... Well, actually Johnny Mathis and Deniece Williams sang the theme after the 2nd season on to the 7th season. The first season, Without Us was sung by Dennis Tufano and Mindy Sterling. Whoever they are.... Source(s): A little research and years of being a couch potato.