This is one of the prayers I had the privilege of contributing to a great book by one of my teachers and friends: Mere Spirituality: The Spiritual Life According to Henri Nouwen, by Wil Hernandez.
From Chapter Eight: Compassion
God who cares,
You have created, redeemed, and sustained us–not only because you love each of us, but because you genuinely, passionately care about every one of your children. You have seen and heard me, you have emptied yourself on my behalf and suffered with and for me, offering me the rest and hope that I have needed so desperately, making me dissatisfied with anything but your love.
And now that I find myself in you, I find that same love increasing within me. Walk gently with me into my own suffering, and then help me to be less fearful of the suffering of those around me, so that my wounds in yours can bring your caring touch to this world.