Here is a version but I don't know for sure if this is James Cleveland's version.
Jesus Savior Pilot Me
Jesus, Savior, pilot me,
Over life’s tempestuous sea;
Unknown waves before me roll,
Hiding rock and treach’rous shoal;
Chart and compass came from Thee:
Jesus, Savior, pilot me.
As a mother stills her child,
Thou canst hush the ocean wild;
Boist’rous waves obey Thy will
When Thou say’st to them, “Be still!”
Wondrous Sov’reign of the sea,
Jesus, Savior, pilot me.
When at last I near the shore,
And the fearful breakers roar
’Twixt me and the peaceful rest,
Then, while leaning on Thy breast,
May I hear Thee say to me,
“Fear not, I will pilot thee.”