For a word-for-word translation of the German text, check out the first half of this video. The translation appears in text while the organ plays the chorale.
Here's a guy just having fun with the tune. I call it "Hymn and Toccata in G-Dorian."
And this guy has fun with the tune and likes the harmonies in both Lutheran Worship and Lutheran Service Book.
For all you orchestral fans out there, this is a lovely instrumental arrangement by JS Bach. If it ain't baroque, fix it!
From Cantata 61, in German. This is not your ordinary church choir; they can do a trill in unison!