I've learned that thou hast not desired

1 I've learn'd, that Thou hast not desir'd
Off'rings and Sacrifice alone;
Nor Blood of guiltless Beasts requir'd,
For Man's Transgression to atone:

2 I therefore come—come to fulfil
The Law thine Oracles impart:
'Tis my Delight to do thy Will;
Thy Laws are written in my Heart.

Source: Psalms and Hymns, selected for the use of the Parish-Church of Boston #56a