Narrative poetry is a form of poetry that tells a story, often making use of the voices of a narrator and characters as well; the entire story is usually written in metred verse. The poems that make up this genre may be short or long, and the story it relates to may be complex. It is usually dramatic, with objectives, diverse characters, and metre. Narrative poems include epics, ballads, idylls, and lays.
From:The Road Not Taken, by Robert Frost
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;