I like this text by Timothy Dudley-Smith for its directness and it is, of course, a song for the celebrations of the Baptism of the Lord.
It is set to RENDEZ A DIEU, which may be familiar to an assembly from other uses, and so good for a song done only once a year.
The text is available from the wonderful people at Hope Publications, where the sheet music can be obtained. It is also at Hymnary and OCP.