Okay, so this isn't a poem per se, still, worth putting it up I think:
"I went to the woods because I wished to live deliberately, to front only the essential facts of life, and see if I could not learn what it had to teach, and not, when I came to die, discover that I had not lived. "
"There is no greater mystery than this, that we keep seeking reality though in fact we are reality. We think that there is something hiding reality and that this must be destroyed before reality is gained. How ridiculous! A day will dawn when you will laugh... at all your past efforts. That which will be the day you laugh is also here and now." - Ramana Maharshi