We report experimental measurements of the transmission spectrum of an optical cavity coupled with cold Rb atoms. We observe the multiatom vacuum Rabi splitting of a composite cavity and atom system. When a coupling field is applied to the atoms and induces the resonant two-photon Raman transition with the cavity field in a $\ensuremath{\Lambda}$-type system, we observe a cavity transmission spectrum with two vacuum Rabi sidebands and a central peak representing the intracavity dark state. The central peak linewidth is significantly narrowed by the dark-state resonance and its position is insensitive to the frequency change of the empty cavity.
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