The Joy of Life by Berton Braley:

I’d rather risk gamely
And lose for my trying
Than grind around tamely
–A cog in the mill.
I’d rather fail greatly
With courage undying
Than plod on sedately
With never a thrill!

The game’s in the playing
And, losing or winning,
The fun’s in the essaying
Your bravest and best,
In taking your chances
While fate’s wheel is spinning
And backing your fancies
With nerve and with zest!

Let stodgy folk censure
and timid folk quaver,
But life sans adventure
Is weary to bear,
The dangers we’re sharing
Give living its savour
I’d rather die daring
Than never to dare!

I came across a collection of some of Berton Braley’s best poems at Quent Cordair. Check it out!