Lyrically, Undertow is high up there in my top 10 favorite Phil Collins / Genesis songs:

Stand up to the blow that fate has struck upon you
Make the most of all you still have coming to you
Lay down on the ground and let the tears run from you
Crying to the grass and trees and heaven finally on your knees

Let me live again, let life come find me wanting
Spring must strike again against the shield of winter
Let me feel once more the arms of love surround me
Telling me the danger’s past, I need not fear the icy blast again

It is such a beautiful song throughout, and it hasn’t aged a day.