Avoid using a poem that is very religious in nature, specially if you come from a family with varied religious beliefs.  I like this for the ending of a eulogy speech, because it gives the mourners a chance to look at death from their own individual religious, ethnic perspectives while all being able to see it as a positive thing.

A parable of immortality

A ship sails and I stand
Watching till she fades on the horizon
And someone at my side says,
“She is gone”.
Gone where?
Gone from my sight, that is all;
She is just as large as when I saw her.
The diminished size and total loss of sight
Is in me, not in her,
And just at the moment
When someone at my side says
“She is gone”
There are others who are watching her coming,
And other voices take up a glad shout
“There she comes!”