I like the idea of poetry, but I almost never actually read it. My knowledge of the form is pretty much limited to a handful of popular classics that I had to read back in high school; one or two poems each from Robert Frost, Emily Dickinson, Langston Hughes, Walt Whitman, and Shakespeare.

Where do I start if I want to dip my toes into poetic waters? What are some good poems/compilations for poetry novices? I'm particularly interested in modern, contemporary voices, but I'm open to anything.