Since then it has crossed denominational and stylistic boundaries, and been performed by many different artists, and is now used in some places as a congregational hymn.
Image from Flickr. License: https://creativecommons.org/licenses/by/2.0/
Professional video - solo singer with piano accompaniment:
Graham Kendrick with band at a live, open-air performance:
Choir with piano:
Instrumental version - organ:
LyricsThe lyrics are copyright so cannot be reproduced here. But they are currently available on the composer's own website.
The song has four verses (and a 5th, added by Rend collective in 2013), and a four-line chorus which is repeated after each of the four verses. A rough outline is:
1 From heaven you came helpless babe ...
This is our God, The Servant King
He calls us now to follow Him
To bring our lives as a daily offering
Of worship to The Servant King
2 There in the garden of tears ...
3 Come see His hands and His feet
4 So let us learn how to serve
5 We bring our lives to you ...