This is one I do remember singing when I was growing up. I liked the chorus as a child. As I got older, I liked the Soprano-Tenor duet in line 3. It's actually a fairly easy one to play--maybe even the organ considering the bass/pedal part. The Zion in this song does not refer to the Zion we are trying to build on earth, but to the one we look forward to going to in heaven one day. It is a hopeful view of what lies beyond when we move on from this life, which helps to alleviate fears that may accompany.
From the history book
Another hymn--and one about a Zion--written by someone not of the LDS faith. He wrote it as a missionary in the Cook Islands. The composer was LDS, and a self-taught musician. The words had first been published in 1864. Not sure when the tune was connected to the text, but at least by 1906 when the composer passed away.