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The experience changed his life.
Today, the Le Mars man is the District 9 commander for the American Legion, heading up 8,200 members at 92 posts in 13 northwest Iowa counties.
He was recently elected to the post after serving in local, regional and state American Legion offices.
In addition, a poem he wrote entitled "Come Visit My Grave" is now a centerpiece at the Veteran's Memorial Park in Le Mars and is read every Memorial Day during the community service.
Rolfes' military story began in 1960, when he decided to enlist in the military before taking over his father's farm in Le Mars.
He went through basic training in Fort Leonard Wood, Mo., then further training at Fort Dix, N.J. He completed 3 1/2 years of active reserve and four years of inactive reserve.
Then, in 1968, his unit based out of Le Mars was activated to serve in Vietnam. However, Rolfes received word he was assigned to a unit in Kansas City.
"I tried to get back here to go with my own unit, but I couldn't get in because enlistments were frozen," he said.
Soon after, he received a letter from the Department of the Armory -- his honorable discharge from the military for the years he served.
Rolfes returned to Le Mars to farm, taking over his father's operation.
Then, in 1978, he became a member of the American Legion.
"Just shortly after I joined, they asked me to help with a funeral," Rolfes said. "I thought that was so honorable to be able to do something for a deceased veteran."
He decided to dedicate more time to the American Legion.
"I didn't get to see any combat, and I felt I didn't do as much as my unit saw, so I thought I can serve my community in peace time, then," Rolfes said.
Since then, Rolfes has served in several offices with Wasmer Post 241, including twice as commander, as Plymouth County commander, and several offices for District 9.
This July he was installed as District 9 commander. Rolfes is the fifth Wasmer Post member in the past 90 years to hold that position.
"It's always been an honorable title," Rolfes said.
As district commander, his job is to preside over the district's regular conventions, oversee committees for contests like the poppy poster contest, and to work to bring in new American Legion members.
Rolfes also carries out a few memorial duties that aren't in his job description. One is visiting the graves of soldiers and veterans.
That is what inspired his most well-known poem, "Come Visit My Grave."
"I go out and put flags on the military stones, and I thought, 'I wonder if I'm the only person who is here visiting this veteran,'" Rolfes said. "Then I got to thinking, 'I wonder what he's thinking when he's looking down here.'"
Later on one night, Rolfes couldn't sleep. He grabbed a piece of paper, sat on the stairs and wrote "Come Visit My Grave."
The poem's voice is that of a soldier who died, speaking to his family and friends:
"I am a Veteran under the sod. / I'm in good company; I'm up here with God. / Come to my grave and visit me. / I gave my life, so you could be free..."
Rolfes shared the poem with friends, who passed it on to others, and eventually "Come Visit My Grave" was published in the "Iowa Legionnaire," The American Legion of Iowa's monthly newspaper.
"It was passed on all over the United States," Rolfes said. "I get letters from people in Maine, California about my poem -- it touched them. They were thinking of someone, their dad or a buddy in the service, and it brings memories back to them."
The poem wasn't about any soldier specifically, but Rolfes often remembers one buddy in particular.
In training at Fort Leonard Wood, Rolfes shared a tent with a guy from the Le Mars unit. Later, that man was killed in Vietnam.
Rolfes recites the poem every Memorial Day by memory, and he's taken requests to recite it at other gatherings as well.
"I try to emphasize some parts, and sometimes I go a little too far and get choked up myself," he said.
The reason he wrote the poem in the first place was to get more involvement on Memorial Day," Rolfes said.
When the Veteran's Memorial Park was designed and built, organizers contacted Rolfes asking if they could use his poem in the park.
The park is meant to be a memorial park and not a war museum. The purpose, Rolfes said, was to remember fallen veterans and not glorify war.
"They thought the poem set the theme for the park: memory," he said. "If it puts people in the memorial mood, I guess it serves its purpose."
Come Visit My Grave
By Jim Rolfes
I am a Veteran under the sod.
I'm in good company, I'm up here with God.
Come to my grave and visit me.
I gave my life so you could be free.
Today is Memorial Day throughout this great land.
There's Avenues of Flags, Parades and Bands.
I can hear music, the firing squads and taps.
Here come my comrades, the Legionnaires, the Blue caps.
One of them just put a flag on my stone.
Some day he'll have one of his own.
Some think of this day as just a day free of toil.
While others are busy working the soil.
They say they have plans, other things to do.
Don't put us aside as you would an old shoe.
Come visit my grave in this cemetery so clean.
This is what Memorial Day means.
There are many of us lying in wakeless sleep.
In cemeteries of green and oceans of deep.
It's sad that for many who fought so brave.
No one comes to visit their grave.
They died so you could have one whole year free.
Now can't you save this one Day for me?
There are soldiers, sailors, airmen up here.
Who went into battle despite of their fear.
I've been talking up here to all of those men.
If they had to do it over, they'd do it again.
Look, someone is coming to visit my grave.
It's my Family, for them my life I gave.
My wife, I remember our last embrace.
As I left the tears streamed down your face.
I think you knew the day I was shipped out.
I wouldn't return, your life would be turned about.
There's my daughter that I used to hold.
Can it be that you're nearly twenty years old?
Next month is to be your wedding day.
I wish I could be there to give you away.
My son's here too, Dad's little man.
Always love your Country, do for it what you can.
There is one thing that really did bother.
Is seeing you grow up without the aid of your Father.
I wish you could all hear me from up above.
That's a father's best gift to his children is love.
And what better way to prove my love to the end.
Is that a man lay down his life for his friends.
I see it's time for you to go home.
Your visit made it easier to remain here alone.
Don't cry honey, you look too sad.
Our children are free, you should be so glad.
Daughter, thanks for the bouquet so cute.
Thank you son for that sharp salute.
Come again, I forgot, you can't hear me from up here.
But I know you'll come visit me again next year.
I hope all veterans are treated this way.
On this day to remember, Memorial Day.
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Mr. Rolfes, thanks to you and all veterans for what you have done for our freedom. You hold my highest respect.