I believe this is the song you are looking for
It is We Are Called To Serve by Tim and Julie Smith
We are called to serve, we are called by grace, to cherish Christ in every face.
We are called to serve, we are called by name, and in all we are, God’s love proclaim
Called beyond our human understanding, called before the world came into view.
Within your mother’s womb, your name was known to me,
For you did not choose me, no, I chose you.
Called to be a light amid the darkness, called to help a doubting world believe.
“Empowered by my Spirit, anointed with my love, You are called to give and share what you believe