। ॥ ४१ ॥
In plain words
Through the limbs of yoga that begin with restraint and observance, those who have mastered themselves worship him in the heart — and that one is you. Sāmba, Sadāśiva, Śambhu, Śaṅkara: your two feet are my refuge.
Close to the Sanskrit
Whom the self-restrained ones worship in the heart by the limbs beginning with yama and niyama — that one you are, O Lord. Sāmba, Sadāśiva, Śambhu, Śaṅkara: refuge for me is your pair of feet.