This is a poem by Hazrat Khwaja Majzoob Rahmatullahi 'Alayh. It is known as Eh Mere Datta.
This recitation is by Moulana Yunus Patel Rahmatullahi 'Alayh. He recited some verses from this poem in his last Zikr Majlis in Durban before leaving for the Haramain and eventually staying there forever, as decreed by the Most Merciful Allah.
May Allah Ta'aala grant all of our pious predecessors Jannatul Firdaws, Ameen.