In plain words
Abandoning completely all desires born of saṅkalpa, and restraining the whole group of senses by manas itself from every side,
Word for word
Having abandoned all desires born of saṅkalpa without remainder, having restrained the whole group of senses on every side by the mind itself,
सङ्कल्पप्रभवान् कामांस्त्यक्त्वा सर्वानशेषतःमनसैवेन्द्रियग्रामं विनियम्य समन्ततः
Other commentaries
The commentators
▸Bhagavadgītābhāṣyam
किञ्च —
सङ्कल्पप्रभवान् सङ्कल्पः प्रभवः येषां कामानां ते सङ्कल्पप्रभवाः कामाः तान् त्यक्त्वा परित्यज्य सर्वान् अशेषतः निर्लेपेन । किञ्च, मनसैव विवेकयुक्तेन इन्द्रियग्रामम् इन्द्रियसमुदायं विनियम्य नियमनं कृत्वा समन्ततः समन्तात् ॥ २४ ॥
In plain words
And there's more —
"Born of saṅkalpa" — desires whose source is saṅkalpa; those are the desires the verse calls saṅkalpa-born. Having let them go: having released them entirely, all of them, without remainder, leaving no smear behind. And further: with the mind alone — the mind joined to viveka — having reined in the whole troop of the senses, that is, the entire collection of them, on every side, from every direction.
Close to the Sanskrit
Moreover —
Saṅkalpaprabhavān — those desires of which saṅkalpa is the origin, they are the desires born of saṅkalpa; having abandoned (tyaktvā) — that is, having wholly relinquished — them, all of them, aśeṣataḥ, without remainder, leaving no smear. Moreover: by the mind alone (manasā eva), the mind that is furnished with discrimination, having restrained (viniyamya) — that is, having carried out the restraining of — the group of the senses, the whole collection of the senses, samantataḥ, from every direction.