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One of your characters could "write" the poem and recite it to another. You could present the poem as something in a book which a character reads, or establish that your character is a poet who is...
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#4: Attribution notice removed
Source: https://writers.stackexchange.com/a/4728 License name: CC BY-SA 3.0 License URL: https://creativecommons.org/licenses/by-sa/3.0/
#3: Attribution notice added
Source: https://writers.stackexchange.com/a/4728 License name: CC BY-SA 3.0 License URL: https://creativecommons.org/licenses/by-sa/3.0/
#2: Initial revision
One of your characters could "write" the poem and recite it to another. You could present the poem as something in a book which a character reads, or establish that your character is a poet who is always composing in her head and tends to think in verse, so the poetry is actually coming from her thoughts. But to stop dead in the middle of prose narration, insert a poem, and continue merrily along is disruptive to the flow of reading. Unless you're writing something truly surreal, where you're playing with the medium as part of how you're telling the story, I don't recommend it.