Please note, that the translation below has been made by myself, and, therefore, you may use it as you please. Some attribution may be good so people can ask me questions if they need to. My last name is Mueller.
A ship is coming
fully loaded to the very brim
bearing the Son of God, full of grace,
the Father's eternal Word.
The ship is moving steadily,
it bears a treasured freight,
Love is its very sail,
the Holy Ghost its mast.
And now the anchor touches ground;
the ship arrives on land.
For us, the Word becomes now flesh.
The Son is sent, for us.
In Bethlehem He is born;
in a stable He becomes a child.
He gives himself as lost on our behalf.
Let us praise Him!
Whoever will receive this child,
embrace and kiss Him dearly,
must also surely suffer with Him,
and endure much pain and torture.
After this, he must also die with Him,
and rise with Him spiritually,
in this manner to inherit eternal life,
just as happened with Him.
Here is a modern performance of the hymn:
My hymnbook says that the hymn is by Daniel Sudermann, 1626, based on Johannes Tauler's work. Johannes Tauler according to Wikipedia was:
Johannes Tauler (c. 1300 in Strasbourg – 15 June 1361) was a German mystic, a Catholic preacher and a theologian. A disciple of master Eckhart, he belonged to the Dominican order. Tauler was known as one of the most important Rhineland Mystics. He promoted a certain neo-platonist dimension in the Dominican spirituality of his time.
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