I stumbled into poetry through complete accident. A friend left 'Milk and Honey' by Rupi Kaur on my coffee table during a rough patch, and I ended up reading the whole thing in one sitting. That accessibility was the gateway. Now, I'd say the best starting points are the ones that feel like they're talking directly to you, without layers of archaic language to decode. Mary Oliver's 'Devotions' is incredible for this—her poems about nature and paying attention use such clear, strong language that just pulls you right in.
Another solid choice is Billy Collins' 'Aimless Love.' His work has this gentle, observational humor about everyday things that makes poetry feel less intimidating. It's like having a conversation. For something more contemporary, try Ocean Vuong's 'Night Sky with Exit Wounds.' The language is gorgeous and direct, even when the themes are complex. Honestly, just start with a poet who makes you feel something on the first read, not one you feel you 'should' understand. That immediate connection matters way more than any literary prestige.