How to replace spaces in file names using a bash script

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Can anyone recommend a safe solution to recursively replace spaces with underscores in file and directory names starting from a given root directory? For example:

$ tree
.
|-- a dir
|   `-- file with spaces.txt
`-- b dir
    |-- another file with spaces.txt
    `-- yet another file with spaces.pdf

becomes:

$ tree
.
|-- a_dir
|   `-- file_with_spaces.txt
`-- b_dir
    |-- another_file_with_spaces.txt
    `-- yet_another_file_with_spaces.pdf

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