This is a Marty Haugen song that CWB says is based on Psalm 94 (95) and 95 (96). Psalm 118 is obviously involved as well for the refrain.
The verse goes into interesting melodic territory – B# in a song in E anyone?
You can still buy it at GIA where the text is in their preview.
I had more trouble than usual with BIAB for this song as it is in cut common time and my usual trick of entering everything and just reducing everything by half won’t work with chords on quarter notes – I worked around it.