This is another song in the “Comfort” section of hymns from Gather 3rd edition. This is by Paul A. Tate. The text is inspired by Matthew 11:25-30. If you have done Norbet’s “Come to Me” to death, perhaps this is an alternative. He has written a lovely melody for this one.
The sheet music is at GIA, where the text is in their preview.
The “rest now in me” is supposed to be echoed by the assembly after the cantor or choir, but I would just have the assembly sing everything and repeat it rather than hand most of the song away. There is a harmony line for the chorus that I have ignored for my backing.