śhruti-vipratipannā

श्रुतिविप्रतिपन्ना ते यदा स्थास्यति निश्चला

śhruti-vipratipannā — not allured by the fruitive sections of the Vedas

When your understanding, no longer pulled about by scripture, stands still and steady in itself — then you will have reached yoga.

सर्वतः पाणिपादं तत्सर्वतोऽक्षिशिरोमुखम्

śhruti-mat — having ears

Hands and feet everywhere, eyes, heads and faces everywhere, hearing everywhere — it stands enclosing everything in the world.

अन्ये त्वेवमजानन्तः श्रुत्वाऽन्येभ्य उपासते

śhrutvā — by hearing

And others, not knowing this, hear it from others and worship. They too cross beyond death, holding to what they have heard.