Yes definitely Rick Kemp and not Tim Hart.
I'd always wondered if the song was about a specific event or loss, so I ventured to ask Maddy recently: her answer "Oh I think Rick was in a bit of a spiritual phase when he wrote it".
She did not relate it to anything specific. I have sung it at a funeral wake.
One of the loveliest cover versions is by Scottish group Sangsters, which is where I first heard the song.