तदेष श्लोको भवति ।तदेव सक्तः सह कर्मणैति लिङ्गं मनो यत्र निषक्तमस्य ।प्राप्यान्तं कर्मणस्तस्य यत्किञ्चेह करोत्ययम् ।तस्माल्लोकात्पुनरैत्यस्मै लोकाय कर्मण इति नु कामयमानोऽथाकामयमानो योऽकामो निष्काम आप्तकाम आत्मकामो न तस्य प्राणा उत्क्रामन्ति ब्रह्मैव सन्ब्रह्माप्येति ॥ ६ ॥
In plain words
About this there is a verse: whatever he was attached to, that is exactly what he goes to, carried there by his own action — his mind, fixed on that one thing, is what leads him on. Once he has lived out the last of that action, whatever he did in this life, he comes back from that world to this one, to act again. That is how it goes for someone who desires. But the one who no longer desires — who wants for nothing, whose longing is spent, who is satisfied, who wants only the Self — his breath doesn't leave him the way it leaves everyone else. He is brahman already, and into brahman he simply goes.
Close to the Sanskrit
Regarding this, there is this verse: That very thing, being attached, together with the action he goes to — the mind, wherein this one's mind is fixed, is the sign that carries him onward. Having reached the end of that action — whatever this one does here — from that world he returns again, to this world, for action. Thus indeed: one who desires transmigrates; but one who does not desire — who is without desire, free from desire, whose desire is fulfilled, whose only desire is the Self — his life-breaths do not depart; being brahman itself, he goes into brahman.