This is Haugen’s setting of the Venite in the Morning prayers based on Psalm 95.
The sheet music can be purchased at GIA. I can find lots of versions of the text but none that exactly matches Haugen’s – you can listen to the words below.
My backing probably is a bit too rhythmic, although he does suggest “strong, walking tempo”.[audio:http://www.sixmaddens.org/wp-content/uploads/2017/09/Come-O-Come-Let-Us-Sing.mp3|titles=Venite]