Martial, Epigrams 10.47:
These are the things, my dearest Martial, which make life happier: possessions not gotten from labor, but left to you; a not ungrateful field, a fireplace always warm; never any strife, rarely putting on the toga, a quiet mind; inborn strength, a healthy body; wise simplicity and equal friends; easy dining, and a simple table; sober nights, but still free of cares; a bed that isn’t sad, but still with its share of modesty; sleep to make the shadows short; to wish to be what you are, and to desire nothing else; not to fear your final day, nor yet to wish for it.
Here is the same epigram translated more poetically by Henry Howard:

Vitam quae faciant beatiorem,
Iucundissime Martialis, haec sunt:
Res non parta labore, sed relicta;
Non ingratus ager, focus perennis;
Lis numquam, toga rara, mens quieta; 5
Vires ingenuae, salubre corpus;
Prudens simplicitas, pares amici;
Convictus facilis, sine arte mensa;
Nox non ebria, sed soluta curis;
Non tristis torus, et tamen pudicus; 10
Somnus, qui faciat breves tenebras:
Quod sis, esse velis nihilque malis;
Summum nec metuas diem nec optes.