In this poem Dickinson personifies Death as a polite but persistent gentleman, who escorts his charge gently to her final destination.
The journey is dignified and civilised as we are told in the second stanza-
We slowly drove, he knew no haste,
And I had put away
My labor, and my leisure too,
For his civility.
The gentle rhyme suggests a calm and respectful process, and Death is seen as a polite chaperone assisting a lady in to the next world. It is a far less intimidating image than the grim reaper that Death is often personified as.