In-print hymnals that it is in include Catholic Hymns Old and New, 2009 edition - and these are the best source of sheet music for it.
The unnamed tune by Markland has a 2/4 time signature, and was originally published in they key of G. The first few notes in this key are Bc B G D.
Soloist with a country and western feel:
Solo singer with guitar+ backing:
LyricsThe lyrics are copyright so cannot be reproduced here. But they are currently available on this website or this one.
The song starts with a four-line chorus, and this is repeated after each of the four verses. A rough outline is:
I will be with you wherever you go.
Go now throughout the world!
I will be with you in all that you say.
Go now and spread my word!
1 Come, walk with me on stormy waters ...
2 And you, my friend, will you now leave me ...
3 Your life will be transformed with power ...
4 And if you say: ‘Yes, Lord I love you,” ...