I thought this site might prove useful, and it did. It's a government site that holds links to the Taxpayer Bill of Rights, which contains the 15 rights that a taxpayer holds.
This site has a link to a PDF file that is the Taxpayer's Bill of Rights. I thought that this would help in the debate to prove that taxation isn't theft because in this scenario, the supposed thief (governement) is giving rights to the people it is "stealing" from. This proves that the government isn't stealing our money: it is taking a percentage of our incomes so that it may better maintain the society we treasure and thrive in.
The PDF contains the 15 rights that a taxpayer enjoys.