I can't now find the original post and question about it, or even if it was here or at LJ, so I'll post this both places.
In the 1982 Episcopal Hymnal, it's 610 and the tune name is Blaenhafren. All I could remember of that was "Bl." It's in the section "Christian Responsibility."
First line:
"Lord, whose love through humble service bore the weight of human need..."