This is a newish gathering song (2107) from Michael Joncas that has been added to Breaking Bread for 2020. It is also a song of mission and commissioning suitable as a recessional. It uses a narrative setting to advance the text.
OCP sell the sheet music and provide the text in their preview.
The wonderful Chris Brunelle has covered all these new songs in Breaking Bread so I will be putting up his clips everyday it seems.