This is a chorus by Michael Herry from his collection Dare to Dream.
The sheet music is free from the Marists. You can hear their version at their site.
It is a contemplative sung prayer. The text is by Tricia Walsh.
I heard a country lilt and it wound up in my backing.
You have made us for yourself, O Lord, and our hearts won’t rest ’till in thee.
You have made us for yourself, O Lord, when shall we see your face?
© 1993 Michael Herry