"Finally Home" was released as the third single from MercyMe's 2007 album All That Is Within Me and peaked at No. 1 on Billboard magazine's Soft AC/INSPO and Christian AC charts, No. 3 on the Hot Christian Songs chart, and No. 16 on the Hot Adult Contemporary Tracks chart.
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Jared Johnson of Allmusic opined in his review of All That Is Within Me that "The album's crowning moment is "Finally Home," a mesmerizing acoustic journey that takes listeners to a place where they are reunited with loved ones".
The song was co-written by Bart Millard, Barry Graul, and Steven Curtis Chapman, and was released as the second single from their fifth studio album, All That Is Within Me.