Ralph Vaughan Williams provided the harmony for A Hymn of Glory Let Us Sing from the original Latin. This song I found as I leafed through Lift Up Your Hearts (amazon affiliate link). I don’t know a lot of the songs in this hymnal but the tune of this one looked familiar and it was! The words good and ergo I am sharing them with you. I hope you enjoy them as well

Lyrics
I checked a couple of hymnbooks we have and found the generally only four verses are sung. The original tune has seven verses.
A hymn of glory let us sing
New songs throughout the world shall ring
Alleluia, Alleluia.
Christ, by a road before untrod
Ascendeth to the throne of God.
Alleluia, Alleluia, Alleluia, Alleluia, Alleluia.
The holy apostolic band
Upon the Mount of Olives stand
Alleluia, Alleluia.
And with His followers they see
Jesus’ resplendent majesty
Alleluia, Alleluia, Alleluia, Alleluia, Alleluia.
To whom the angels drawing nigh,
Why stand and gaze upon the sky?
Alleluia, Alleluia.
This is the Savior, thus they say.
This is His noble triumph day.
Alleluia, Alleluia, Alleluia, Alleluia, Alleluia.
Again ye shall behold Him so,
As ye have today seen Him go.
Alleluia, Alleluia.
In glorious pomp ascending high
Up to the portals of the sky.
Alleluia, Alleluia, Alleluia, Alleluia, Alleluia.
O grant us thitherward to tend
And with unwearied hearts ascend,
Alleluia, Alleluia.
Unto Thy kingdom’s throne, where Thou
As is our faith, art seated now,
Alleluia, Alleluia, Alleluia, Alleluia, Alleluia.
Be Thou our Joy and strong Defense,
Who art our future Recompense,
Alleluia, Alleluia.
So shall the light that springs from Thee
Be ours through all eternity,
Alleluia, Alleluia, Alleluia, Alleluia, Alleluia.
O risen Christ, ascended Lord,
All praise to Thee let earth accord,
Alleluia, Alleluia.
Who art, while endless ages run,
With Father and with Spirit One,
Alleluia, Alleluia, Alleluia, Alleluia, Alleluia.
History of A hymn of Glory let us sing
The original author has been lost over the course of time, but Benjamin Webb translated it from the Latin into English. An English clergyman who was recognized at the leading authority in ecclesiastical art, he also served a curate in various churches in England.
What Can We Learn?
Since hymns are a great way to learn more of who God is and how we can best praise him, what can we learn from A hymn of Glory Let us sing?
I was struck by this stanza : new hymns throughout the earth shall ring.
Isn’t that just the case? Throughout Christian history new songs of worship have been created. Some on purpose, and some that just slip out of people’s mouths as they consider the wonder of the Lord God. In fact in some churches a battle rages between hymns and praise/worship songs. We need to consider the truth though. God will raise up worship from his people. His glory draws it out of us.
How it is drawn out depends on the person it is coming from. Songs that bring praise to God are being written all across the spectrum even today. So if we are greeted by a song we don’t know, but it truly brings praise to God, let’s sing it out. See new ways to praise God. Contemplate the wonders of our Lord and give him all the praise.
He put a new song in my mouth, a song of praise to our God; many will see and fear and will trust in the LORD … Psalm 40:3.
https://hymnary.org/text/a_hymn_of_glory_let_us_sing_new_lutheran
The New Hymn of Jesus Christ, of Him, By Him, Through Him, For Him – His Church, His Bride, His New Creation – A Hymn of Glory Let Us Sing. Alleluia!