I believe that poem is in Janet Tamarro's book "So That's What They're For"
From memory

Dusting and cleaning can wait til tomorrow
For babies grow up,
We've learned to our sorrow

So settle down cobwebs
Dust go to sleep
I'm rocking my baby
And babies don't keep

Again that's purely from memory.
I have it on a handout I use when talking to a prenatal class.

-Rob

Rob Cordes, DO, FAAP, FACOP
Wilkes Barre, PA
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