This is a Michael Joncas song that I haven’t heard before that is in Gather Australia. It is based on Psalm 27, but also has a refrain for funerals (“May the angels lead you into paradise…)
The verses are fiddly and go high enough to threaten the assembly so a cantor would be advisable. but the refrain sounds manageable.
The sheet music can be purchased at OCP where the text is in their preview.