Having done AOV, CWB II, “All Are Welcome” and all the Marty Haugen songs in Gather Comprehensive, I still haven’t scratched the surface of his prolific catalogue it appears.
Gather Australia puts this Marty Haugen song in their baptism section. GIA suggests reconciliation, which works as well. I thought some of the lyrics would recommend its use as a recessional, but on reflection that may look like a criticism of what came before it in the mass.
The text is here and GIA will sell you the sheet music.