This is a song by Marty Haugen based on Psalm 34. This is the rowdier setting in a gospel style. Every verse has subtle variations that will make a cantor pretty well essential.
The text is here. You can purchase the sheet music in a collection at GIA. The original version can be heard at Haugen’s MySpace Site.
My version is a bit of a mess but has some energy (and a fake horn section) at least.