I don't have a favorite, I come back to many poems, often, I memorize them and forget them, but here is Roethke's The Waking, which is a stunner.

I wake to sleep, and take my waking slow.   

I feel my fate in what I cannot fear.   

I learn by going where I have to go.

We think by feeling. What is there to know?   

I hear my being dance from ear to ear.   

I wake to sleep, and take my waking slow.

Of those so close beside me, which are you?   

God bless the Ground!   I shall walk softly there,   

And learn by going where I have to go.

Light takes the Tree; but who can tell us how?   

The lowly worm climbs up a winding stair;   

I wake to sleep, and take my waking slow.

Great Nature has another thing to do   

To you and me; so take the lively air,   

And, lovely, learn by going where to go.

This shaking keeps me steady. I should know.   

What falls away is always. And is near.   

I wake to sleep, and take my waking slow.   

I learn by going where I have to go.