Robert Frost wrote ‘The Road Not Taken’ as a joke for a friend the poet Edward Thomas.
The poem depicts the agony of decision making and the rewards of forging your own path. He say he took the road less travelled and that made all the difference.

Two roads diverged in a yellow wood,
And sorry I could not travel both
And be one traveler, long I stood
And looked down one as far as I could
To where it bent in the undergrowth;
Then took the other, as just as fair
And having perhaps the better claim,
Because it was grassy and wanted wear;
though as for that the passing there
Had worn them really about the same,
And both that morning equally lay
In leaves no step had throdden black
Oh, I kept the first for another day
Yet know how way leads on to way,
I doubted if I should ever come back.
I shall be telling this with a sigh
Somewhere in the ages and ages hence
Two roads diverged in a wood, and
I took the one less traveled by
And that made all the difference.