Hymn Lyrics Search - Name That Hymn

I am looking for a song that I heard at a church I was visiting. It says in the chorus:

When i fall on my knees and talk to Jesus, it's so good to know He hears every word I pray....

That's about all I know of it. Thanks for any help!

When I fall on my knees and I talk to Jesus it's so good to know he hears every word I say. What a blessed fellowship I feel between us. My highest heights is when I steal away and pray.