Palmer's songs specialize in topics aimed at young children, such as math, and reading, or developing motor skills.

[4] Palmer taught from 1972 at a school for mentally challenged children, and achieved a master's degree in dance education from the University of California, Los Angeles, in 1983.

[5][2] His early albums include the Learning Basic Skills Through Music series, (in both English and Spanish language versions) Getting to Know Myself (which features his signature song "Sammy"), Sally the Swinging Snake, and Walter the Waltzing Worm.

[3] His 2016 release received the Parents' Choice Gold Award, and the American Library Association denoted his recordings as "Best of the Best for Children".

[4] Jill Jarlow in All Ears (Viking, 1991) called him one of America's most prolific children's songwriters, who makes innovative and award-winning recordings.