Freut euch, ihr Menschenkinder all,Gott kömmt zu euch vom Himmelssal,er wird geborn ein Kindlein kleinvon Maria, der Jungfrau rein.Er ist der Zweig aus Jesse Stamm,der Löw Judä und Weibessam,Jesus, der Heiden Trost und Lichtund der der Schlang den Kopf zerbricht.Er bringt mit sich Fried, Wonn, und Freud,vertreibt alls Leid und Traurigkeit,damit der Mensch geplaget wardurch Adams Fall stets immerdar.Durch sein Geburt, Angst, Blut, und Toderrett uns all der wahre Gott;er macht uns auch den Engeln gleichund Erben in seins Vaters Reich.Cornelius Freund, + 1591.
My prose translation:
Rejoice, all you children of men,God comes to you from the hall of Heaven,He is born a little childOf Mary, the virgin pure.He is the shoot from Jesse's stump,The lion of Judah and woman's seed,Jesus, the Savior of comfort and lightAnd He Who crushed the head of the snake.He brings with Himself peace, delight, and joyExpels all sorrow and sadness,With which man was constantly plaguedThrough Adam's fall.Through His birth, dread, blood, and deathThe true God saves us all;He makes us even like the angelsAnd heirs in His Father's kingdom.
In the second verse, there are allusions to Isaiah 11:1 (which informed my translation more than the hymn text itself), Revelation 5:5, and Genesis 3:15. I'm not entirely sure of my translation of "Weibessam." I think it's a combination of "Weib" and "Samen."
In order to make the sense more obvious, I had to move "stets immerdar" (which I translated as "constantly") up a line: "With which man was constantly plagued."
"Heirs in His Father's kingdom" seems to refer to Galatians 4:7: "So you are no longer a slave, but a son, and if a son, then an heir through God."
As far as I can tell, the hymn does not appear in The Lutheran Hymnal, Lutheran Worship, or The Lutheran Service Book. There's a note above the text in the Gesangbuch that it's sung to the tune "Vom Himmel hoch, da k." Here's an arrangement from The Lutheran Hymnal: