महाभारतः mahābhārataḥ - book-3, chapter-202, verse-21

रथः शरीरं पुरुषस्य दृष्टमात्मा नियन्तेन्द्रियाण्याहुरश्वान् ।
तैरप्रमत्तः कुशली सदश्वैर्दान्तैः सुखं याति रथीव धीरः ॥२१॥

21. rathaḥ śarīraṁ puruṣasya dṛṣṭa;mātmā niyantendriyāṇyāhuraśvān ,
tairapramattaḥ kuśalī sadaśvai;rdāntaiḥ sukhaṁ yāti rathīva dhīraḥ.

21. rathaḥ śarīram puruṣasya dṛṣṭam
ātmā niyantā indriyāṇi āhuḥ aśvān
taiḥ apramattaḥ kuśalī sadaśvaiḥ
dāntaiḥ sukham yāti rathī iva dhīraḥ

21. The body (śarīra) is considered the chariot of the cosmic person (puruṣa). They say the self (ātman) is the charioteer and the senses are the horses. Like a wise charioteer with well-trained, good horses, a vigilant and skillful person travels comfortably by means of these (senses).

Words meanings summery:

• रथः (rathaḥ) - chariot

• शरीरम् (śarīram) - body

• पुरुषस्य (puruṣasya) - of the cosmic person (puruṣa) (of the person, of the male, of the human being)

• दृष्टम् (dṛṣṭam) - is considered (seen, perceived, considered)

• आत्मा (ātmā) - the individual self (ātman) (the self, the soul)

• नियन्ता (niyantā) - controller, charioteer, guide

• इन्द्रियाणि (indriyāṇi) - senses, sense organs

• आहुः (āhuḥ) - they say, they call

• अश्वान् (aśvān) - horses

• तैः (taiḥ) - by those (senses, figuratively horses) (by them)

• अप्रमत्तः (apramattaḥ) - not negligent, vigilant, careful

• कुशली (kuśalī) - skillful (skilled, proficient, healthy)

• सदश्वैः (sadaśvaiḥ) - with good horses

• दान्तैः (dāntaiḥ) - by the well-trained (horses/senses) (by the controlled, by the disciplined)

• सुखम् (sukham) - happily, easily, comfortably

• याति (yāti) - goes, travels

• रथी (rathī) - charioteer, owner of a chariot

• इव (iva) - like, as, as if

• धीरः (dhīraḥ) - wise, steady, patient, firm

Words meanings and morphology

रथः (rathaḥ) - chariot

(noun)

Nominative, masculine, singular of ratha

ratha - chariot, car

Root: ram (class 1)

शरीरम् (śarīram) - body

(noun)

Nominative, neuter, singular of śarīra

śarīra - body, corporeal frame

Root: śṝ (class 9)

पुरुषस्य (puruṣasya) - of the cosmic person (puruṣa) (of the person, of the male, of the human being)

(noun)

Genitive, masculine, singular of puruṣa

puruṣa - person, man, male, human being, spirit, cosmic person

Root: pṝ

दृष्टम् (dṛṣṭam) - is considered (seen, perceived, considered)

(adjective)

Nominative, neuter, singular of dṛṣṭa

dṛṣṭa - seen, perceived, observed, understood, considered

Past Passive Participle

From √dṛś.

Root: dṛś (class 1)

Note: Qualifies śarīram (implicitly 'the body is seen').

आत्मा (ātmā) - the individual self (ātman) (the self, the soul)

(noun)

Nominative, masculine, singular of ātman

ātman - self, soul, spirit, essence

Nominative singular form.

Root: an (class 2)

Note: Subject of the implicit verb 'is'.

नियन्ता (niyantā) - controller, charioteer, guide

(noun)

Nominative, masculine, singular of niyantṛ

niyantṛ - controller, charioteer, regulator, guide

Agent noun

From ni-yam with -tṛ suffix.

Prefix: ni

Root: yam (class 1)

Note: Predicate nominative.

इन्द्रियाणि (indriyāṇi) - senses, sense organs

(noun)

Nominative, neuter, plural of indriya

indriya - sense organ, faculty of sense

Root: ind

Note: Subject of āhuḥ (implied with aśvān).

आहुः (āhuḥ) - they say, they call

(verb)

3rd person , plural, active, present (semantic) / perfect (grammatical) (liṭ) of vac

Perfect indicative

Third person plural, parasmaipada. Irregular form of √vac.

Root: vac (class 2)

अश्वान् (aśvān) - horses

(noun)

Accusative, masculine, plural of aśva

aśva - horse

Root: aś (class 5)

Note: Object of āhuḥ (they call senses as horses).

तैः (taiḥ) - by those (senses, figuratively horses) (by them)

(pronoun)

Instrumental, masculine, plural of tad

tad - that, those (demonstrative pronoun)

Instrumental plural masculine/neuter.

अप्रमत्तः (apramattaḥ) - not negligent, vigilant, careful

(adjective)

Nominative, masculine, singular of apramatta

apramatta - not negligent, vigilant, careful, heedful

Past Passive Participle (negative)

Negation (a) of pramatta (negligent), derived from pra-mad.

Compound type : nañ-tatpuruṣa (a+pramatta)

• a – not, un-
  indeclinable
  Negation prefix.
• pramatta – negligent, careless, intoxicated
  adjective
  Past Passive Participle
  From pra-√mad.
  Prefix: pra
  Root: mad (class 4)

कुशली (kuśalī) - skillful (skilled, proficient, healthy)

(adjective)

Nominative, masculine, singular of kuśalin

kuśalin - skilled, expert, clever, happy, healthy

Derived from kuśala with -in suffix.

सदश्वैः (sadaśvaiḥ) - with good horses

(noun)

Instrumental, masculine, plural of sadaśva

sadaśva - good horse

Compound of sat (good) and aśva (horse).

Compound type : karmadhāraya (sat+aśva)

• sat – good, real, true, existing
  adjective
  Present Active Participle
  From √as (to be).
  Root: as (class 2)
• aśva – horse
  noun (masculine)
  Root: aś (class 5)

Note: Agrees with dāntaiḥ.

दान्तैः (dāntaiḥ) - by the well-trained (horses/senses) (by the controlled, by the disciplined)

(adjective)

Instrumental, masculine, plural of dānta

dānta - controlled, disciplined, subdued, tamed

Past Passive Participle

From √dam.

Root: dam (class 1)

सुखम् (sukham) - happily, easily, comfortably

(indeclinable)

Often used adverbially in accusative neuter singular.

Note: Functions adverbially.

याति (yāti) - goes, travels

(verb)

3rd person , singular, active, present (laṭ) of yā

Present indicative

Third person singular, parasmaipada.

Root: yā (class 2)

रथी (rathī) - charioteer, owner of a chariot

(noun)

Nominative, masculine, singular of rathin

rathin - charioteer, car-warrior, owner of a chariot

From ratha with -in suffix.

Note: Used in comparison with iva.

इव (iva) - like, as, as if

(indeclinable)

Particle of comparison.

धीरः (dhīraḥ) - wise, steady, patient, firm

(adjective)

Nominative, masculine, singular of dhīra

dhīra - wise, steady, patient, firm, brave, intelligent

From √dhī (to think).

Root: dhī (class 1)

Note: Refers to the charioteer (figuratively, the wise person).