Off of the West African coast, a young English couple (James Murphy, Kelley Manson) and their newborn son barely survive a shipwreck and land in Africa. They construct a tree house for their son before being killed by a leopard named Sabor. In the African Jungle, Kerchak (Kaleb Smith), the leader of a tribe of gorillas admires his new infant son with his mate, Kala (Katie Fries) ("Two Worlds"). Sabor suddenly appears and kidnaps the newborn baby gorilla. Kala goes off to find her son but finds the human boy instead and names him Tarzan. She mothers him and raises him despite Kerchak's refusal to treat Tarzan as his son ("You'll Be In My Heart").
As a young child, Tarzan (Sam White) finds that he cannot keep up with the tribe, while Kerchak views him as a threat. Despite this, Tarzan is befriended by the lighthearted Terk (Avie Nelson), a young gorilla who teaches him the ways of the gorillas ("Who Better Than Me"). However, Kerchak finds Tarzan constructing a spear, and assuming he intends to hurt the gorillas, he exiles him from the gorilla tribe ("No Other Way"). Kala worries for him and goes off to find him. She discovers him despairing by the water's edge ("I Need To Know"). Kala tells him that even though they look different, underneath the skin, they are just the same, reigniting Tarzan's desire to become the best ape ever.
Years pass, and Tarzan grows into a young man (Jeremiah Galván), athletic and resourceful ("Son of Man"), accepted by many of the gorillas as one of their own, except for Kerchak. Kala tries to convince Kerchak to accept Tarzan ("Sure As Sun Turns To Moon"). Kerchak won't change his mind until Tarzan kills the leopard that has been terrorizing the tribe. Suddenly, gunshots are heard throughout the jungle, causing the tribe to scatter, but Tarzan investigates. Deep in the jungle, Jane Porter (Alexandra Burch), a young English naturalist, is overwhelmed by the thrillingly diverse jungle life ("Waiting For This Moment"). While exploring, she is attacked by a giant spider but is rescued by Tarzan. Tarzan and Jane carefully assess each other as they realize their similar qualities ("Different").
At the Porter expedition site, Terk (Brianna Frost) and the other gorillas discover the site and all of its unique features, and do some redecorating ("Trashin' The Camp"). Jane returns to the site with Tarzan, and she is thrilled by the tribe of gorillas. Kerchak arrives and scares the gorillas off. Jane tries to convince her father, Professor Porter (Tom Williams), and their guide, Clayton (Wyatt Molling), that she discovered a wild man and a tribe of apes. Kerchak forbids contact with the humans, but Tarzan and Jane grow to love each other and Jane tells her father more about the wild ape man ("Like No Man I've Ever Seen"). Tarzan soon visits the humans and becomes properly acquainted with them, especially Jane, though Clayton becomes jealous of their love.
Jane tries to teach Tarzan more about humans and human life, while Tarzan shows her his jungle world, too ("Strangers Like Me"); all the while, Jane tries to cope with her emotions ("For The First Time"). She tries to tell her father to stop Clayton's plans of killing the gorillas, but Clayton, wanting to achieve his goal, tricks Tarzan into taking the humans to the gorilla nesting grounds. Tarzan asks Terk to help him by keeping Kerchak away, and Terk agrees ("Who Better Than Me (Reprise)"). As Tarzan shows the humans his gorilla family, Kerchak arrives anyway, scattering the humans and demanding that Tarzan choose who he is. Realizing her son is torn between his loyalty to his gorilla family and his need to be with humans, Kala shows Tarzan the treehouse his parents built and he discovers all of their belongings ("Everything That I Am"). He decides to go to England with Jane and live as a human and he tells Kala his decision ("You'll Be In My Heart (Reprise)").
Tarzan approaches Jane and Porter, announcing his intention to leave the jungle and be with Jane. As the rest of the gorillas arrive to say goodbye to Tarzan, they are suddenly attacked by Clayton, who is more than determined to kill the gorillas once and for all. He shoots Kerchak when he takes a bullet meant for Tarzan, fatally wounding the gorilla leader. Tarzan fights Clayton and nearly kills him, but Porter convinces him to spare his life and that they can handle Clayton in a less violent way, and Clayton is grabbed by the man that was accompanying him and taken back to the ship to await punishment for his actions. A dying Kerchak apologizes to Tarzan for not understanding him and finally accepts him as his son. The gorilla tribe, led by Kala, convinces Tarzan that they need him to stay ("Sure As Sun Turns To Moon (Reprise)"), and Tarzan becomes the new leader of the gorillas.
At the beach, Jane and Porter are about to leave on their ship to return to England. Tarzan arrives to say goodbye to them, until Jane realizes that she loves Tarzan and, with Porter's blessing, decides to stay with him in the jungle. Tarzan and Jane kiss and swing off towards their new home, planning to spend the rest of their lives together ("Two Worlds (Reprise)").
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