सम्यक्साह्यं विधातुं सममिव सततं जङ्घयोः खिन्नयोर्येभारीभूतोरुदण्डद्वयभरणकृतोत्तम्भभावं भजेते ।चित्तादर्शं निधातुं महितमिव सतां ते समुद्रायमानेवृत्ताकारे विधत्तां हृदि मुदमजितस्यानिशं जानुनी नः ॥
In plain words
May the two round knees of the unconquered Lord—which act like steady props to support his heavy thighs and ease his weary shins, and which shine like an ocean reflecting the pure mirror of the wise person's heart—ever bestow deep joy within us.
Close to the Sanskrit
May the two round knees of the unconquered one, which assume the role of props for bearing the heavy pair of thigh-staves as if to thoroughly support the fatigued shins, and which resemble an ocean to place the mirror of the mind of the virtuous, constantly grant joy in our hearts.