This song by Chris Muglia is distinguished from many of the others in this section of Spirit & Song Vol 2 in that it is singable by an assembly. It could even pass for a gathering song at that, and there are examples on YouTube of churches using the song for that purpose.
The text is at spiritandsong where the sheet music can be purchased for download in many and varied versions.
The original:
The wonderful Arch Street Band:
Another very professional cover, this time by MG Johnson and friends:
A nice choir version:
You can hear a nice prayerful unplugged version by Johanna Hurley here.