Hymn Lyrics Search - Name That Hymn

Looking for the lyrics to the song that the chorus goes like this, heard it on the radio a few times but cannot find it anywhere, its an upbeat happy sound and this what i remember.

He gives us joy for the journey, joy for the journey all the way,
He gives us hope for each sorrow, he gives us joy for the journey every day.

Called the radio station I heard it on and it was produced by Pensacola Christian College, written by Paul Jackson. Here's the lyrics.

Joy For Our Journey

Living down here we have our troubles;
Men's hearts are failing because of fear.
But there is someone who feels our heartache;
And with his hand he gently wipes away our tears.

(Chorus)
He gives us joy for our journey;
He gives us joy for our journey all the way.
His joy will hold us in times of sorrow;
He gives us joy for our journey every day.

Life's road seems long, our burdens heavy;
There are some times we feel we can't go on.
Our Lord will be there he'll give us courage;
He never fails to lift us up and make us strong.

So on this road we'll march to glory;
Our faith is in God's only Son.
Jesus has promised we'll get to heaven;
And then we'll shout and praise his name for all he's done.

Good song