This is a very repetitive poem, which is part of what makes it feel so meditative—that is, like a prayer. And one of the most obvious kinds of repetition here is parallelism (and more specifically anaphora). Broadly speaking, this parallelism gives certain lines a steady rhythm suggestive of chanting and meditation. As an example, takes lines 2 and 3, where the word "to" repeats at the start of five consecutive clauses:
To sky, to earth, to sun, to moon
To one whole voice that is you.
Repetition works like this throughout the poem to create a calm, chant-like rhythm, reminiscent of the body's own natural rhythms (the heartbeat, breath, etc.). Similar examples of parallelism include "can't see, can't hear, / Can't know"; "see you, see ourselves"; and "Breathe in, knowing [...] breathe, knowing."
The poem also contains a number of identical or nearly identical words/phrases that repeat throughout. For example, there's "Circles of motion" in line 9 and "circle of motion" in line 21; "Like eagle [...] morning" in lines 10 and 22; "know" and "knowing" in lines 14 and 18 (which is specifically something called polyptoton); and "In beauty" in the final two lines.
Whether they're set far apart or close together, all these repetitions lend the poem a loosely cyclical structure in which key phrases "come back around." (However, they don't reappear in any predictable pattern, like a refrain would.) This effect lends a touch of structure to an otherwise freewheeling free verse poem. It also seems appropriate to a poem full of circles and cycles: the orbiting bodies mentioned in line 2, the eagle's circling flight, and the circle of life. The epizeuxis at the end of the poem, meanwhile (that quick repetition of "In beauty") is like a chant closing out the prayer.
The most frequently repeated word in the poem is "know"/"knowing," which occurs five times (lines 4, 6, 14, 17, and 18). This frequency underscores the poem's emphasis on knowledge, particularly the wisdom that the eagle teaches the speaker and that the speaker hopes to share with the reader.