I recommend listening to this. Jim Morrison is master at spoken word poetry. Umm, but besides that I think it's about being one with yourself. Nobody else is in the room except you (right you talk about that stuff in front of people).
I've never done it myself, but I would love to one day, so hopefully that album helps you. I would recommend just trying to look for other people doing their own poetry live, because I'm sure it gives you a sense of how it works. You could even attend some spoken word shows (lol is that what it's referred to as???) to get a sense of the atmosphere. =) Hope this helped.