It's a hard one. Poems about death and loss tend to be solemn. WH Auden Funeral Blues is an option. Lyrics to My Way? Slightly more left-field https://www.poetryinternational.com/en/poets-poems/poems/poem/103-13607_DEATH-IS-SMALLER-THAN-I-THOUGHT
How many miles to Babylon and My mother said I never should/play with the gypsies in the wood both have a wild unruly air about them. Might suit, might not.
Or this by Robert Louis Stevenson. https://www.poetryfoundation.org/poems/46005/consolation-56d225c2de35d
Or this https://www.poetryfoundation.org/poems/45946/grown-about-by-fragrant-bushes
Or the end of Hiawatha - this is longish but could be cut down
"I am going, O Nokomis,
On a long and distant journey,
To the portals of the Sunset.
To the regions of the home-wind,
[...]
On the shore stood Hiawatha,
Turned and waved his hand at parting;
On the clear and luminous water
Launched his birch canoe for sailing,
From the pebbles of the margin
Shoved it forth into the water;
Whispered to it, "Westward! westward!"
And with speed it darted forward.
And the evening sun descending
Set the clouds on fire with redness,
Burned the broad sky, like a prairie,
Left upon the level water
One long track and trail of splendor,
Down whose stream, as down a river,
Westward, westward Hiawatha
Sailed into the fiery sunset,
Sailed into the purple vapors,
Sailed into the dusk of evening:
And the people from the margin
Watched him floating, rising, sinking,
Till the birch canoe seemed lifted
High into that sea of splendor,
Till it sank into the vapors
Like the new moon slowly, slowly
Sinking in the purple distance.
And they said, "Farewell forever!"
Said, "Farewell, O Hiawatha!"
And the forests, dark and lonely,
Moved through all their depths of darkness,
Sighed, "Farewell, O Hiawatha!"
And the waves upon the margin
Rising, rippling on the pebbles,
Sobbed, "Farewell, O Hiawatha!"
And the heron, the Shuh-shuh-gah,
From her haunts among the fen-lands,
Screamed, "Farewell, O Hiawatha!"
Thus departed Hiawatha,
Hiawatha the Beloved,
In the glory of the sunset,.
In the purple mists of evening,
To the regions of the home-wind,
Of the Northwest-Wind, Keewaydin,
To the Islands of the Blessed,
To the Kingdom of Ponemah,
To the Land of the Hereafter!