I guess this is called a rap song (hip hop? something else?). In any case, it’s by TobyMac and features Mandisa. The studio version also featured Kirk Franklin but Gabriel Patillo is is singing that part in this live performance (the studio version is shown farther below).
You can see the lyrics below the video if you view it on YouTube.
Given that this song is being performed in a modern concert environment (which functions largely on popularity), you have to wonder about the irony of the song’s chorus.
(At the very end they go into a brief version of the chorus I Could Sing of Your Love Forever.)
Here’s the studio version: