Very nicely done. What a wonderful, heartfelt poem. I would lose the comma's at the end of your lines, as you don't need them and in this stanza:

I knew I shouldnt grab them,
But they seemed just oh so warm,
Then they moved quite suddenly,
To let another in his arms,

I would delete the word just. Read it aloud and it flows without it. This is nicely done and I like your style. I look forward to reading more from you.

In answer to your question, I have written most of my life, taking 20 years off due to a lack of inspiration.