When I was about five, my mother would recite the whole of Keats' 'Meg Merrilies' to me (she knew it off by heart) and I soon learnt to do the same. I was entranced.
Also, 'Tewkesbury Road' by John Masefield. When she got to the final line "...the dear wild cry of the birds" I'd be sobbing with emotion!

I've never forgotten a single word of these poems recited by my mother, and I think it's because they were delivered orally with great expression.

Being Irish, she had a great feeling for words, songs and oral traditions/culture.
She could 'do' any accent, and acted in an amateur dramatics club. Her sister was a drama college tutor, and also recited dozens of funny things for me. Yet another sister was a major book buyer for a Canadian store in Ontario. So the whole family were similar, involved in language, literature and oral treasures.

I like to think I've inherited some of this, and can heartily recommend reading poetry aloud in order to savour it the more.