David Lee set this to music; you can find a PDF and MP3 here.
You, who walked the city streets and highways, you, whose feet were covered in their dust, walk with me through all my twisted byways; take with me the steps I know I must. You had not the shelter of the foxes; you had not the comfort of the nest: Walk with me the roads that lead through darkness; be for me my shelter and my rest. Word of God, that dwelt untouched above me, Jesus, sinking in the mud of flesh, walk with me and let me feel you love me. Touch me still and fill my every breath. You, who walked the valley of the shadow, every step along the vale of tears, walk with me and make this journey hallowed through the darkened garden of my fears. Son of God and image of the Father, Christ Incarnate, wrapped in flesh and blood, walk with me 'til I can walk no further. Guide me by your never-ending love.