This is one of those songs that has been covered by just about everybody, but it isn't that familiar to the public. The melody is familiar, but it isn't a tune that most people can name immediately. This song is very flexible. it can be done at just about any tempo in just about any style. In this case, we have a fairly brisk Samba beat.
The song form is ABA with each section having 16 bars -- 48 bars to the chorus. The changes aren't crazy, but they aren't entirely conventional either. This song is loaded with ii-V and ii-V-I sequences. See measures 9, 11, 13, 17 21, 25, 29, 32, 41, 43, and 45. In others words, nearly half the time, you are in a ii-V pattern of some sort.
There is a fade-out vamp after the out-chorus for you to noodle on a little.