My wife helped me figure this one out.  
Hope it's good.  
It might be played in F, but for our voices it worked better in D. 
Enjoy


Verse 1
D              G     D
Sarah, take me by my arm
D                G      A
Tomorrow we are Canaan bound
      Bm        A        D      G
Where westward sails the golden sun
    D         G        A      D
And Hebron's hills are amber crowned

Verse 2
   D                 G        D
So bid your troubled heart be still
D                       G        A
The grass, they say, is soft and green
    Bm        A        D      G
The trees are tall and honey-filled
     D     G         A        D         A
So, Sarah, come and walk with me

Chorus:
         Bm       A         D      G
Like the stars across the heavens flung
     D             G      A    
Like water in the desert sprung
           Bm         A       D     G 
Like the grains of sand, our many sons
    D       G       A       Bm 
Oh, Sarah, fair and barren one
G        A       D
Come to Canaan, come

Verse 3

I trembled at the voice of God
A voice of love and thunder deep
With love He means to save us all
And Love has chosen you and me

Played same as chorus:

Long after we are dead and gone
A thousand years our tale be sung
How faith compelled and bore us on
How barren Sarah bore a son
So come to Canaan, come

      Bm         A       D       G
Where westward sails the golden sun
    D                  G       A
And Hebron's hills are amber crowned
    Bm      A       D     G
Oh, Sarah, take me by my arm
D        G       A     D
Tomorrow we are Canaan Bound