Is there a serial verb construction in classical Chinese?
Wikipedia has several categories of serialization. I'll try to provide one example for each. With my lousy word-for-word translations. Note that there is no strict definition of the categories; Even serialization itself don't have a strict definition. 

Auxiliaries

From 《老子》:


  道可道，非常道。 -- Tao can tell, not common tao.


Verbal complements

In one of 元稹's poem:


  垂死病中惊坐起 -- Almost dying sickness inside shockingly sat got-up.


Coverbs

In 苏轼's 《水调歌头》:


  我欲乘风归去 -- I want take wind return leave.


Other cases

王安石's poem:


  明月何时照我还 -- Bright moon what time shine me return.