We give an explicit expression for gravitational energy, written solely in terms of physical spacetime geometry, which in suitable limits agrees with the total Arnowitt-Deser-Misner and Trautman-Bondi-Sachs energies for asymptotically flat spacetimes and with the Abbot-Deser energy for asymptotically anti-de Sitter spacetimes. Our expression is a boundary value of the standard gravitational Ham...