This is rediscovered from the first edition of 'Notes of some wanderings with the Swami Vivekananda' by Sister Nivedita and is different from the version published in the Complete Works.
Requiescat in pace !
Speed forth, O soul! upon thy star-strewn path,
Speed, blissful one, where thought is ever free,
Where time and sense no longer mist the view,
Eternal peace and blessings be on thee!
Thy service true, complete thy sacrifice,
Thy home the heart of love transcendent find,
Remembrance sweet, that tells all space and time,
Like altar-roses, fill thy place behind.
Thy bonds are broke, thy quest in bliss is found.
And-one with that which comes as Death and Life, -
Thou helpful one! unselfish e'er on earth,
Ahead, still aid with love this world of strife.
- Swami Vivekananda
For a comparison of the two and a discussion of the editing of Vivekananda's poetry see editor's notes .... On Editing Vivekananda's letters and poetry