Well, the most common lyric to this tune that you find in U.S. churches is found in the Baptist Hymnal and the hymnals of many other Christian denominations. It's in the standard Roman Catholic hymnals published by the Oregon Catholic Press (OCP Publications) and GIA (formerly the Gregorian Institute of America). I did not find the tune used in my old Catholic hymnals, the St Gregory and Pius X hymnals. Click here for the Cyber Hymnal entry on this song.
-Joe Offer-

JOYFUL, JOYFUL WE ADORE THEE
(words: Henry Van Dyke, 1910)
(tune: Beethoven's "Ode to Joy," 9th Symphony)

Joyful, joyful, we adore Thee, God of glory, Lord of love;
Hearts unfold like flowers before Thee, opening to the sun above.
Melt the clouds of sin and sadness; drive the dark of doubt away;
Giver of immortal gladness, fill us with the light of day!

All Thy works with joy surround Thee, earth and heaven reflect Thy rays,
Stars and angels sing around Thee, center of unbroken praise.
Field and forest, vale and mountain, flowery meadow, flashing sea,
Singing bird and flowing fountain call us to rejoice in Thee.

Thou art giving and forgiving, ever blessing, ever blessed,
Wellspring of the joy of living, ocean depth of happy rest!
Thou our Father, Christ our Brother, all who live in love are Thine;
Teach us how to love each other, lift us to the joy divine.

Mortals, join the happy chorus, which the morning stars began;
Father love is reigning o’er us, brother love binds man to man.
Ever singing, march we onward, victors in the midst of strife,
Joyful music leads us Sunward in the triumph song of life.