This chaplet is said on rosary beads.

Begin on the crucifix (or medal of St. Joseph)

Blessed Joseph, husband of Mary,
be with us this day.
You protected and cherished the Virgin; 
loving the Child Jesus as your son,
you rescued Him from danger of death.
Defend the Church, the household of God, 
purchased by the blood of Christ.
Guardian of the Holy Family, be with us in our trials.
May your prayers obtain for us the strength to flee from error
and wrestle with the powers of corruption 
so that in life we may grow in holiness and in death rejoice in the crown of victory. 
Amen.

On each of the large beads say:

St. Joseph guardian of the Holy Family, bless our families.

On each of the small beads say:

St. Joseph pray for us.

To conclude the chaplet:

Jesus, Mary and Joseph
I give You my heart and my soul.
Jesus, Mary and Joseph 
assist me now and in my last agony.
Jesus, Mary and Joseph
may I breathe forth my soul in peace with You.