"I'm on my way (and I won't turn back)" is a traditional Gospel song. It is described a typical "going-to-Canaan" song; and possibly an Underground Railroad song.
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..."