The book "Funeral and Memorial Service Readings, Poems and Tributes" by Rachel R. Baum has selections of poems that are suitable for a funeral service. The text contains selections of both poetry and prose for memorializing many relationships, including parent, child, spouse, sibling, other relative and friend.
"Funeral and Memorial Service Readings, Poems and Tributes" also has readings for specific groups of individuals, such as soldiers, victims of violence and pets. Indexes identify poems by author, title and first line.
Luisa Moncada's "Poems and Readings for Funerals and Memorials" is a compilation of readings from many sources, such as the Bible, songs and plays. A wide range of poets are represented, including W. H. Auden, e.e. cummings, Emily Dickinson and Rumi.