The text is by Joseph Hart , from Hymns Composed on Various Subjects, 1759. The tune is named Restoration and is from The Southern Harmony and Musical Companion, by William Walker.
The version below is by Fernando Ortega with help from Amy Grant. Here are the words:
ye sinners, poor and needy,
Weak and wounded, sick and sore;
Jesus ready stands to save you,
Full of pity, love and pow’r.
I will arise and go to Jesus,
He will embrace me in His arms;
In the arms of my dear Savior,
Oh, there are ten thousand charms.
God’s free bounty glorify;
True belief and true repentance,
Every grace that brings you nigh.
Lost and ruined by the fall;
If you tarry till you’re better,
You will never come at all.
On the ground your Maker lies;
On the bloody tree behold Him;
Sinner, will this not suffice?
Pleads the merit of His blood:
Venture on Him, venture wholly,
Let no other trust intrude.
Not of fitness fondly dream;
All the fitness He requireth
Is to feel your need of Him.