Donald Fagen sang it on their 1972 album, "Can't Buy A Thrill", but David Palmer performed "Do It Again" live when the band played The Midnight Special in January of 1973.
Palmer fronted the band during their live show as a lead vocalist. He was recruited after Donald Fagen expressed concerns over singing live.
Palmer, who sang on five songs on "Can’t Buy a Thrill" was only the lead singer of Steely Dan for a few short months in late 1972 and early 1973. He was fired due to concerns about both his ability to interpret the songs and his habit of performing under the influence of alcohol.
Fagen then very reluctantly agreed to take over full-time singing duties.
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Of interest, discover 20 Facts You Probably Didn't Know About Steely Dan shared by UltimateClassicRock.com.