Most of this poem is a run of questions. The speaker asks someone close to take their hand, see life through their eyes, share their pain, and feel their heartbeat. Each question is gentle and a little anxious, as if the speaker is testing how deep the other person's love goes. By the third stanza the questions turn to trust, truth and faith, and the speaker admits to having plenty of faith in the other person already.
Then the poem shifts. "You said yes? Then come!" The tone becomes bolder and more urgent. The speaker is honest about what lies ahead: no road, no map, no light, only love to keep out the cold. The title fits that bare picture of an uncertain future.
The mood is tender, hopeful and quietly brave. The speaker doesn't promise that the relationship will last. It "might be short or last forever." What matters is that, for once, two people walked as one.