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The Lagrangian velocity structure functions in the inertial range of fully developed fluid turbulence are derived basing on the Navier-Stokes equations. For time much smaller than the correlation time, the structure functions are shown to obey the scaling relations . The scaling exponents are calculated analytically. The obtained values are in amazing agreement with the unique experimental results of the Bodenschatz group \cite{Bod2}. New notion – the Lagrangian position structure functions is introduced. All the of the order are shown to have a universal scaling.

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