गुरुचरणाम्बुजनिर्भरभक्तः संसारादचिराद्भव मुक्तः ।सेन्द्रियमानसनियमादेव द्रक्ष्यसि निजहृदयस्थं देवम् ॥ ३१ ॥
In plain words
Give yourself wholly to your teacher's lotus feet, and before long you will walk out of saṃsāra a free man. Rein in the senses, and the mind with them — by that alone — and you will see the radiant one seated in your own heart.
Close to the Sanskrit
One whose devotion to the lotus feet of the guru is unstinting — from saṃsāra, before long, become free. By restraint of the senses along with the mind alone, you will see the shining Lord abiding in your own heart.