This hymn was written by Friedrich Funcke (1642-1699) and translated by August Crull (1846-1923). The hymnal wherein I found this hymn has set it to ACH GOTT UND HERR, a German chorale tune familiar to J. S. Bach (you can access more of his chorale tunes here).

Draw us to thee,
For then shall we
Walk in thy steps forever
And hasten on
Where thou art gone
To be with thee, dear Saviour.

Draw us to thee;
O grant that we
May walk the road to heaven!
Direct our way
Lest we should stray
And from thy paths be driven.

Draw us to thee,
Lord, lovingly;
Let us depart with gladness
That we may be
Forever free
From sorrow, grief, and sadness.

Draw us to thee
That also we
Thy heavenly bliss inherit
And ever dwell
Where sin and hell
No more can vex our spirit.

Draw us to thee
Into thy kingdom take us.
Let us fore’er
Thy glory share;
Thy saints and joint heirs make us.