Miles Davis originally recorded this piece on January 11, 1968, and it wasn't released until 1981 as a part of compilation album "Directions". The tune is also recorded by Joe Chambers on his 1992 release "Phantom of the City".
I didn't include any chord symbols here, but added sample chord voicings for a reference. (Herbie Hancock plays an electric harpsichord on the recording!) The given bass line is doubled by a guitar, and it continues for solos (with slight variation). Solos are based on the key of D major.