There have been many poems on the subject, but i think Ovid's Metamorhoses is the one you seek..some excerpts...
"Arriv'd, he, tuning to his voice his strings,Thus to the king and queen of shadows sings. Ye Pow'rs, who under Earth your realms extend,To whom all mortals must one day descend;If here 'tis granted sacred truth to tell:I come not curious to explore your Hell;
Nor come to boast (by vain ambition fir'd)
How Cerberus at my approach retir'd.
My wife alone I seek; for her lov'd sake......
......Thus, while the bard melodiously complains,And to his lyre accords his vocal strains,The very bloodless shades attention keep,And silent, seem compassionate to weep;
Ev'n Tantalus his flood unthirsty views,
Nor flies the stream, nor he the stream pursues; Ixion's wond'ring wheel its whirl suspends,And the voracious vulture, charm'd, attends;No more the Belides their toil bemoan,And Sisiphus reclin'd, sits list'ning on his stone. Then first ('tis said) by sacred verse subdu'd,
The Furies felt their cheeks with tears bedew'd:Nor could the rigid king, or queen of Hell,Th' impulse of pity in their hearts repell.Now, from a troop of shades that last arriv'd, Eurydice was call'd, and stood reviv'd....
Milton and Southey also had poems with the same theme-- i think milton's was "or bid the soul of Orpheus sing" or something like that... but i could be wrong...
Tu ne cede malis, sed contra audentior ito. - Virgil.
"Yield thou not to adversity, but press on the more bravely".