Playing with Songs

I played guitar in my teens and early twenties and then took 40 years off. I'm 64 now and have been playing drums for about four years and am the drummer at church. On drums, I can listen to most any song and play along. But, I am not able to do that with guitar.

A little over a year ago, I got back into guitar and found that I can still play a bunch of chords and can read most simple music to play a song. But, what I can't do now (and couldn't do 40 years ago) is play along with a song. Without music, I don't know what to play.

What does one need to do to be able to what I can do on drums. Listen to a song and, at least on some level, play along with it? Thanks for any suggestions!