It's not a song, afaik, but I long ago found (and have since lost) a nautical version of the 23rd Psalm, which began "The Lord is my Pilot, I shall not drift," and ended "Surely sunlight and starlight shall follow me wherever I sail, and at the end of my voyaging I shall rest in the port of my Lord."

I would very much like to find this again, and wondered whether anyone else had run across it.

(The only place I know of that this appeared was a novel, probably British, that had something to do with sailing. I read it probably 30 years ago. I have no idea of title or author. I'm hoping it was quoted from something more widely distributed.)