What famous, English poem am I thinking of?

I know I read it in some literature class or another, but I can t remember the name, or even any specific lines or phrases!
It s famous enough that I ve heard it read aloud by some British actor I think. I m also pretty sure it s not rhymed, more like verse.
The poem is about a man who gets out of a boat on a shore and then walks, through the countryside, at night, by himself, to his lover s house. I think there s something about knocking on the window or at the door...
It s weird to me that I remember the gist of a poem without remembering the poet, title, or any specific lines. I can t even remember which class I read it in, if it was high school or college! But it s been driving me crazy.

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