This poem is called "The Invitation". It was written by Oriah Mountain Dreamer. Her first name coming to her in a dream and Mountain Dreamer given to her by a Shamanic Healer. She is not an Indian Elder nor is she an American Indian.
Embrace your Soul and know that that part of you Never Dies, that it is the energetic Consciousness of your Physical Body. The body is just a vessel in which your Conscious Source resides in, you are Eternal, Infinite beings of Love and Light.