This is Psalm 99 (100) by Joseph Gelineau.
The verses are free chant so I only will do backings for the two antiphons.
Arise, come to your God, sing him your songs of rejoicing.
Alelluia x3
The full text is in the samples at Hymnary.
I suppose if they were to be used these days you would need the revised Grail texts which can purchased at GIA.
This isn’t a Gelineau psalm, it is a Suno Psalm 100. It is AI and technically soulless soul music: