I find that Ben Jonson's poem, "On My First Son," is one of spiritual awakening in that Jonson, at the death of his son, awakens to spiritual or philosophical awareness of the temporal nature of life; the unnatural essence of a parent dying before his child; the sense that children are given to us "on loan;" and, that poetry, for him, is synonymous with life—in this case, the life of his son..."his best piece of poetry."
Hope this is on the mark: spirituality is often such a subjective thing, and subjectivity blurs things around the edges in terms of perception.
There are tons of poems on spiritual awakening. I would say that many of the Psalms are poems about spiritual awakening. One of the most famous Psalms is Psalm 23. In this psalm, God is likened to a shepherd who leads his sheep, protect them and guides them. In the end, the Psalmist says that his soul is restored and that goodness will follow him all the days of his life.
Many poets have poems whose subject is a spiritual awakening, and that is especially true if you think about all of the different ways "awakening" can be defined. One poet that quickly came to mind is William Wordsworth. His famous poem "A Few Lines Composed at Tintern Abbey" is an especially strong example. He makes several philosophical/spiritual observations about the power of memory and passage of time in the poem.
Awakenings of all kinds are common subjects for poetry. It is hard to narrow it down to one. You might be interested in a collection of poems I found called Peeling the Onion; Poems of Spiritual Awakening by George E. James. I would also suggest some works by Emily Dickinson, Langston Hughes and Robert Frost. You might consider “Stopping by the Woods on a Snowy Evening” for one. http://www.poemhunter.com/poem/stopping-by-woods-on-a-snowy-evening-2/
There are quite a number of poems concerning spiritual and philosophical awakening. In fact, there are types of poetry dedicated to spiritual awakening. The Suffi poets are one group to look into, along with the Hindu works, The Upanishads and The Bhagavad Gita.
You also may be interested in looking into the Romantic Poets of England and the Transcendentalists of the US. William Blake, Percy Shelley, Walt Whitman and Ralph Waldo Emerson are the four poets that would top my list when searching for poems dedicated to spiritual or philosophical awakening.
To point to a single poem, I'd suggest "Mont Blanc" by Shelley.