John 6:44-45: "44 'No one can come to me unless the Father who sent me draws him. And I will raise him up on the last day. 45 It is written in the Prophets, "And they will all be taught by God." Everyone who has heard and learned from the Father comes to me'"
1 Peter 2:21: "For to this you have been called, because Christ also suffered for you, leaving you an example, so that you might follow in his steps."
Colossians 1:12-14: "12 giving thanks to the Father, who has qualified you to share in the inheritance of the saints in light. 13 He has delivered us from the domain of darkness and transferred us to the kingdom of his beloved Son, 14 in whom we have redemption, the forgiveness of sins."
Romans 8:17: "and if children, then heirs - heirs of God and fellow heirs with Christ, provided we suffer with him in order that we may also be glorified with him."
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The text is public domain:
1 Draw us to Thee,For then shall weWalk in Thy steps foreverAnd hasten onWhere Thou art goneTo be with Thee, dear Savior.2 Draw us to Thee,Lord, lovingly;Let us depart with gladnessThat we may beForever freeFrom sorrow, grief, and sadness.3 Draw us to Thee;O grant that weMay walk the road to heaven!Direct our wayLest we should strayAnd from Thy paths be driven.4 Draw us to TheeThat also weThy heav'nly bliss inheritAnd ever dwellWhere sin and hellNo more can vex our spirit.5 Draw us to TheeUnceasingly,Into Thy kingdom take us;Let us fore'erThy glory share,Thy saints and joint heirs make us.
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The text from John 6 (specifically verse 44) appears at the beginning of each verse ("Draw us to Thee"). This repetition at the beginning is a rhetorical device called anaphora.
"Follow[ing] in his steps" from 1 Peter 2:21 appears in the lines "For then shall we / Walk in Thy steps forever" in the first verse and also in the majority of the third verse.
Colossians 1:12-14 and Romans 8:17 could overlap a bit, but for the most part, the passage from Colossians appears at the beginning of the fourth verse ("Draw us to Thee / That also we / Thy heav'nly bliss inherit.") and the passage from Romans appears at the end of the fifth ("Thy saints and joint heirs make us.").
The lines "That we may be / Forever free / From sorrow, grief, and sadness" in the second verse may come from part of Revelation 21:4: "neither shall there be mourning, nor crying, nor pain anymore, for the former things have passed away."