The author is unknown and has been showing up since at least the 1970s:
There’s a comforting thought at the close of the day,
When I’m weary and lonely and sad
That sort of grips hold of this old heart
And bids it be merry and glad.
It gets in my soul, and drives out the blues
And finally thrills through and through.
It is just a sweet memory that chants the refrain
I’m glad I touched shoulders with you.
Did you know you were brave, did you know you were strong?
Did you know there was one leaning hard?
Did you know that I waited and listened and prayed?
And was cheered by your simplest word?
Did you know that I longed for that smile on your face?
For the sound of your voice ringing true?
Did you know I grew stronger and better because
I had merely rubbed shoulders with you?
Beautiful, isn’t it??
I’ve heard of this poem being read at funerals, but let’s hope people share it with others well before they’re gone.