In plain words
Never letting a wish for the objects of the senses take hold, driving out the sense of 'mine' within, firm in knowledge, free of desire and fear: such a stainless yogin delights always in the Self alone. Know this.
Word for word
Know that the stainless yogin, allowing no attachment to sensory objects, removing inward possessiveness and standing firm in knowledge, is free of desire and fear and always delights in the Self alone.