Rudrastakam was written by Goswami Tulsidas for Lord Shiva. Chanting this Rudrastakam helps in the spiritual pursuits, specially when one is devotional to Lord Shiva.

Lyrics:

namaa miisha mishaana-nirvaana rupam
vibhum vyaapakam brahma-veda-svaroopam
nijam nirgunam nirvikalpam niriham
chidaakaasha maakaasha-vaasam bhaje ham … [1]

niraakaara monkaara-moolam turiiyam
giraa gnaana gotiita miisham giriisham
karaalam mahaa-kaala-kaalam krpaalam
gunaagaara samsara paaram nato ham … [2]

tushaa raadri-sankaasha-gauram gabhiram
manobhuta-koti prabha sri sariram
sphuran mauli-kallolini-charu-ganga
lasad-bhaala-balendu kanthe bhujangaa … [3]

chalatkundalam bhru sunetram visalam
prasannaa-nanam nila-kantham dayaalam
mrgadhisa charmaambaram mundamaalam
priyam sankaram sarvanaatham bhajaami … [4]

pracandam prakrstam pragalbham paresham
akhandam ajam bhaanukoti-prakaasam
trayah-shula-nirmulanam shula-paanim
bhaje ham bhavaani-patim bhaava-gamyam … [5]

kalaatitata-kalyaana-kalpanta-kaari
sadaa sajjanaa-nanda-daataa purarih
chidaananda-sandoha-mohaapahaari
prasida prasida prabho manmathaarih … [6]

na yaavad umaanaatha-paadaaravindam
bhajantiha loke parevaa naraanam
na taavat-sukham shaanti-santaapa-naasham
prasida prabho sarva bhutaa-dhivaasam … [7]

na janaami yogam japam naiva pujam
nato ham sadaa sarvadaa sambhu tubhyam
jaraa janma-duhkhaugha taatapya maanam
prabho paahi apan-namaamisha shambho … [8]