The moment eternal — just that and no more —
When ecstasy’s utmost we clutch at the core
While cheeks burn, arms open, eyes shut and lips meet!

"Now" (1889)

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More from Robert Browning

That low man seeks a little thing to do,
Sees it and does it:
This high man, with a great thing to pursue,
Dies ere he knows it.
That low man goes on adding one to one,
His hundred’s soon hit:
This high man, aiming at a million,
Misses an unit.

Ah, but a man’s reach should exceed his grasp, or what’s a heaven for?

Men and Women, "Andrea del Sarto" (1855)