This hymn is written by the late Alicia S. Carpenter, 1930-2021, who wrote the words for several hymns in UU Singing the Living Tradition hymnal, including this hymn #360.
The music is attributed to the Genevan Psalter from 1543. The Genevan Psalter is a collection, including all 150 psalms. It was created under the supervision of John Calvin.
The lyrics to this hymnal are included on the video. Thanks to Steph Tacy for producing the video. Enjoy and sing along with Les Tacy, Music Director of Heritage, on the YouTube video Here We Have Gathered.