This is taken from a book called Ancient Songs Sung Anew: a translation of the psalms by Lynn C. Bauman as modern poetry.
" ...And here I am to listen to Your counsel, Lord,
Your inner teachings of the heart.
Day after day, night after night,
You speak through everything.
You are the prize of my life, the goal, the hidden good.
You take my hand in Yours and hold me up,
And fill my heart to overflowing.
This body-mind, this spirit, are all yours, and each part finds a place to rest in You.
And even at the grave, I am not abandoned there, nor ever left alone.
From birth to death You are the path I walk upon ,
And You're the guide who leads me through and far beyond,
Into Your presence, Lord, right next to You, which fills me full, my highest joy."