Teach Me Your Way by James F. Wingerter is a full-chorus rendition of Psalm 86:11-13 and it is an up-tempo, happy Davidic presentation of the text untilizing drum set, bass guitar, rhythm guitar and lead. Though heavily syncopated, the choral setting begins monophonic but gives way to well-disguised fugal polyphony in the "B" section. It is very expressive of the text and great fun to sing! This video is being presented by the Peniel Singers at the Fellowship Church on April 19, 2015.
If you want to follow along in the sheet music you can open the demonstration pdf (Adobe Acrobat) file while it is playing.