I love this one; it's a LotR classic:
The Road goes ever on and on
Down from the door where it began.
Now far ahead the Road has gone,
And I must follow, if I can,
Pursuing it with eager feet,
Until it joins some larger way
Where many paths and errands meet.
And whither then? I cannot say.
I especially like the walking song from "Three is Company" (the part in bold is my favorite - also, you may notice that the third stanza is where the text for Pippin's song in the RotK movie comes from):
Upon the hearth the fire is red,
Beneath the roof there is a bed;
But not yet weary are our feet,
Still round the corner we may meet
A sudden tree or standing stone
that none have seen but we alone.
Tree and flower and leaf and grass,
Let them pass! Let them pass!
Hill and water under sky,
Pass them by! Pass them by!
Still round the corner there may wait
A new road or a secret gate,
And though we pass them by today,
Tomorrow we may come this way
And take the hidden paths that run
Towards the Moon or to the Sun.Apple, thorn, and nut and sloe,
Let them go! Let them go!
Sand and stone and pool and dell,
Fare you well! Fare you well!
Home is behind, the world ahead,
And there are many paths to tread
Through shadows to the edge of night,
Until the stars are all alight.
Then world behind and home ahead,
We'll wander back to home and bed.
Mist and twilight, cloud and shade,
Away shall fade! Away shall fade!
Fire and lamp, and meat and bread,
And then to bed! And then to bed!
I like Gandalf's poem about Aragorn, partly because I feel it also applies to me:
All that is gold does not glitter,
Not all those who wander are lost;
The old that is strong does not wither,
Deep roots are not reached by the frost.
From the ashes a fire shall be woken,
A light from the shadows shall spring;
Renewed shall be blade that was broken,
The crownless again shall be king.
I'm also fond of Galadriel's Lament:
I sang of leaves, of leaves of gold, and leaves of gold there grew:
Of wind I sang, a wind there came and in the branches blew.
Beyond the Sun, beyond the Moon, the foam was on the Sea,
And by the strand of Ilmarin there grew a golden Tree.
Beneath the stars of Ever-eve in Eldamar it shone,
In Eldamar beside the walls of Elven Tirion.
There long the golden leaves have grown upon the branching years,
While here beyond the Sundering Seas now fall the Elven-tears.
O Lórien! The Winter comes, the bare and leafless Day;
The leaves are falling in the stream, the River flows away.
O Lórien! Too long I have dwelt upon this Hither Shore
And in a fading crown have twined the golden elanor.
But if of ships I now should sing, what ship would come to me,
What ship would bear me ever back across so wide a Sea?
If you've noticed, I'm having a hard time picking a favorite.
If I had to pick, I suppose I'd choose the walking song.