First the speech:
RFK Speaks After MLK Killed | Flashback | History
And now the very short poem. It's by Aeschylus, a Greek playwright, who lived 525 BC – 456 BC, "often recognized as the father or the founder of tragedy."
“Even in our sleep, pain which cannot forget
falls drop by drop upon the heart
until, in our own despair, against our will,
comes wisdom through the awful grace of God.”
― Aeschylus
As RFK says, in his speech, "...to tame the savageness of man, and make gentle the life of this world. Let us dedicate ourselves to that."