December 05, 2016 at 08:49 PM EST

In a vibrant musical number from Disney’s latest animated movie Moana, the title character is transported to the Polynesian seas, where her ancestors are exploring the open water in hopes of finding new land.

Disney recently released the video for that number, “We Know the Way,” a rousing, uplifting tune written and sung by Lin-Manuel Miranda and Opetaia Foa’i.

“We set a course to find a brand new island everywhere we roam,” the characters sing as they sail along.

Miranda wrote the song with Foa’i, the Samoa-born singer for the band Te Vaka, known for its South Pacific fusion style of music. According to Foa’i’s website, “We Know the Way” was written in rural New Zealand, with the ancient Kauri trees providing inspiration for the song.

Watch the clip below.

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