Hymn Lyrics Search - Name That Hymn

I need help finding lyrics to the verses of an old song. My grandpa used to sing this song when I was a child and I’ve never heard anyone else sing it. I don’t believe he wrote it but I could be wrong... I’m unable to find the lyrics anywhere!

The chorus goes like this..

Let me walk a little closer to you Jesus
Let me feel your precious strength in every stride
Hold my hand, guide my feet lest I stumble
Let me walk a little closer by your side

Sorry, I've had no luck. About how long ago was this?