The text is essentially a parting blessing, a prayer that God will guide you (st. 1), feed you (st. 2), and protect you in life and in death (st. 3-4). Each stanza is framed by the phrase "God be with you till we meet again."
Bert Polman, Psalter Hymnal Handbook
To leave the security of worship and enter the world for service requires firm confidence in the faithful promises of God to be with us, to care for us and bless us. Our deepest assurance comes from the comfort we have that “I am not my own, but belong—body and soul, in life and in death—to my faithful Savior Jesus Christ” (Heidelberg Catechism, Lord’s Day 1, Question and Answer 1). Because I belong to him, “he will provide whatever I need for body and soul, and will turn to my good whatever adversity he sends upon me in this sad world. God is able to do this because he is almighty God and desires to do this because he is a faithful Father” (Heidelberg Catechism, Lord’s Day 9, Question and Answer 26). We have the assurance that “our Lord speaks to us now through the inspired Scriptures. Christ is with us day by day” (Our Song of Hope, Stanza 1). How rich it is to carry such assurance of his blessing with us as we leave the service of worship!