The Beethoven symphony which incorporates the words to 'Ode to Joy' is his ninth symphony, or to give it its full title, Symphony No. 9 in D Minor, Opus 125. Beethoven completed the work in 1824.
The words are taken from the poem 'Ode to Joy' by Frederick Schiller, although Beethoven made a few alterations to the text. The symphony uses the poem as a choral, and is usually sung by four vocalists. The choral appears in the fourth movement of the symphony.
The Anthem of Europe
Since 1972, the Fourth Movement of the Ninth Symphony has been used as the anthem to the European Economic Community, now known as the European Union. In this version however, the text is not used, but the sentiment behind Schiller's words, expressed by Beethoven through his music, are attuned to the EU's belief in brotherhood and friendship between nations.
Here's a performance of Ode to Joy complete with English and German text: