Your Wounds Are My Heart's Pasture
As far as I know, Bach wrote one cantata for Palm Sunday, Himmelskönig sei willkommen, "Welcome, King of Heaven" (BWV 182).
The centerpiece is a chorale fugue on the melody, Jesu Kreuz, Leiden und Pein. The melody lives on in our hymnal (TLH 140, "Jesus I will Ponder Now"). Text follows:
(Translation courtesy of http://www.bach-cantatas.com/Texts/BWV182-Eng3.htm)
For a nice description of the work overall, see http://www.bach.org/bwv182.php.
The text does a nice job of presenting "The Great Exchange" -- contrasting Christ's infinite suffering with our serene, pastoral joy in the salvation we receive through our faith.
Although Scripture provides many examples of this type of imagery, let me close with Psalm 100:
Make a joyful noise unto the Lord, all ye lands. Serve the Lord with gladness: come before his presence with singing. Know ye that the Lord he is God: it is he that hath made us, and not we ourselves; we are his people, and the sheep of his pasture. Enter into his gates with thanksgiving, and into his courts with praise: be thankful unto him, and bless his name. For the Lord is good; his mercy is everlasting; and his truth endureth to all generations.