Bhashya
कथं सर्वेषु लोकेषु कामचारो भवतीति, उच्यते- यआत्मानं यथोक्तलक्षणं हृदि साक्षात्कृतवान् वक्ष्यमाणब्रह्म-चर्यादिसाधनसंपन्नः सन् तत्स्थांश्च सत्यान्कामान् ; स त्यक्त-देहः यदि पितृलोककामः पितरो जनयितारः त एव सुख-हेतुत्वेन भोग्यत्वात् लोका उच्यन्ते, तेषु कामो यस्य तैःपितृभिः संबन्धेच्छा यस्य भवति, तस्य संकल्पमात्रादेवपितरः समुत्तिष्ठन्ति आत्मसंबन्धितामापद्यन्ते, विशुद्धस-त्त्वतया सत्यसंकल्पत्वात् ईश्वरस्येव ।तेन पितृलोकेन भोगेनसंपन्नः संपत्तिः इष्टप्राप्तिः तया समृद्धः महीयते पूज्यते वर्धतेवा महिमानमनुभवति ॥
In plain words
How one attains freedom of movement across all worlds is now explained: The person who has directly realized the Self within the heart—duly equipped with spiritual disciplines such as continence—finds all true desires resting right there. Having left the body, if he desires the world of the fathers (since fathers are the progenitors and sources of happiness, their realm is called a 'world' of enjoyment), and wishes to connect with them, his mere resolve brings the fathers immediately forth. Through the purity of his mind and the infallibility of his will, much like the Lord Himself, he establishes a direct bond with them. Endowed with that paternal realm, enriched by the attainment of his heart's desire, he rejoices, receives honor, flourishes, and experiences supreme majesty.
Close to the Sanskrit
How one has freedom of movement in all worlds, is spoken: He who has directly realized the Self in the heart, being endowed with disciplines like continence to be spoken of, and those true desires residing there; having left the body, if he has desire for the world of fathers - fathers are progenitors, they alone are spoken of as worlds because of being objects of enjoyment as causes of happiness - in those worlds, desire of whom, with those fathers connection-wish of whom becomes, of him from mere resolve alone fathers arise, they attain relationship with the Self, because of purity of sattva and truth of resolve, like the Lord. Endowed with that paternal world by enjoyment, prosperity - attainment of the desired, enriched by that he rejoices, is honored, grows, or experiences majesty.