"I'm on my way (and I won't turn back)" is a traditional Gospel song.
[1] It is described a typical "going-to-Canaan" song; and possibly an Underground Railroad song.
[2] The lyrics begin "I'm on my way and I won't turn back, I'm on my way and I won't turn back, I'm on my way and I won't turn back; I'm on my way, great God, I'm on my way.
I asked my brother to come with me..."[3]