This song is available on Noah's Ark: Songs, Storybook & Coloring Book. 

I’m pressing on the upward way,
New heights I’m gaining every day;
Still praying as I’m onward bound,
“Lord, plant my feet on higher ground.”

Lord, lift me up and let me stand,
By faith, on Heaven’s table land,
A higher plane than I have found;
Lord, plant my feet on higher ground.
My heart has no desire to stay
Where doubts arise and fears dismay;
Though some may dwell where those abound,
My prayer, my aim, is higher ground.

Lord, lift me up and let me stand,
By faith, on Heaven’s table land,
A higher plane than I have found;
Lord, plant my feet on higher ground.
I want to live above the world,
Though Satan’s darts at me are hurled;
For faith has caught the joyful sound,
The song of saints on higher ground.

Lord, lift me up and let me stand,
By faith, on Heaven’s table land,
A higher plane than I have found;
Lord, plant my feet on higher ground.
I want to scale the utmost height
And catch a gleam of glory bright;
But still I’ll pray till Heav’n I’ve found,
“Lord, plant my feet on higher ground.”

Lord, lift me up and let me stand,
By faith, on Heaven’s table land,
A higher plane than I have found;
Lord, plant my feet on higher ground.

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