One very well-known line of the poem is:
Pinyin: Hai3 nei4 cun2 zhi1 ji3, tian1 ya2 ruo4 bi3 lin2
English: ``If there is someone in the world who truly understands you, then wherever you go, they will always be beside you.''
The next line is:
GB: 无为在歧路, 儿女共沾巾。
Pinyin: Wu2 wei2 zai4 qi2 lu4, er2 nu:3 gong4 zhan1 jin1
English: ``When you must separate at a fork in the road, don't let tears of sadness stain your kerchief.''
(I apologize for the poor translation, and would be grateful if someone could suggest a better one.)
The author is
Pinyin: Wang2 Bo2
I believe the title is
Pinyin: Song4 Du4 Shao4 Fu3 Zhi1 Ren4 Shu3 Zhou1