योगवासिष्ठः yogavāsiṣṭhaḥ - book-2, chapter-13, verse-21

संसारदुःखमोक्षार्थे मादृशैः सह बन्धुभिः ।
स्वरूपमात्मनो ज्ञात्वा गुरुशास्त्रप्रमाणतः ॥ २१ ॥

saṃsāraduḥkhamokṣārthe mādṛśaiḥ saha bandhubhiḥ ,
svarūpamātmano jñātvā guruśāstrapramāṇataḥ 21

21. saṃsāraduḥkhamokṣārthe mādṛśaiḥ saha bandhubhiḥ
svarūpam ātmanaḥ jñātvā guruśāstrapramāṇataḥ

21. saṃsāraduḥkhamokṣārthe mādṛśaiḥ bandhubhiḥ saha
guruśāstrapramāṇataḥ ātmanaḥ svarūpam jñātvā

21. For the sake of liberation (mokṣa) from the suffering of existence (saṃsāra), having known the true nature of the self (ātman) by the authority of guru and scriptures, together with friends like me...

Words meanings summery:

• संसारदुःखमोक्षार्थे (saṁsāraduḥkhamokṣārthe) - for the sake of liberation (mokṣa) from the suffering of existence (saṃsāra) (for the purpose of liberation from the suffering of saṃsāra)

• मादृशैः (mādṛśaiḥ) - with those like me (by those like me, with those like me)

• सह (saha) - with (with, together with)

• बन्धुभिः (bandhubhiḥ) - with friends/relatives (by friends, by relatives, with friends/relatives)

• स्वरूपम् (svarūpam) - the true nature (one's own form, true nature, intrinsic nature)

• आत्मनः (ātmanaḥ) - of the self (ātman) (of the self, of the soul, of oneself)

• ज्ञात्वा (jñātvā) - having known (having known, having understood)

• गुरुशास्त्रप्रमाणतः (guruśāstrapramāṇataḥ) - by the authority of guru and scriptures (by the authority of guru and scriptures, according to the evidence of guru and scriptures)

Words meanings and morphology

संसारदुःखमोक्षार्थे (saṁsāraduḥkhamokṣārthe) - for the sake of liberation (mokṣa) from the suffering of existence (saṃsāra) (for the purpose of liberation from the suffering of saṃsāra)

(noun)

Dative, masculine, singular of saṃsāraduḥkhamokṣārtha

saṁsāraduḥkhamokṣārtha - purpose of liberation from the suffering of saṃsāra

Compound type : tatpuruṣa (saṃsāra+duḥkha+mokṣa+artha)

• saṃsāra – cycle of birth, death, and rebirth; worldly existence
  noun (masculine)
  Derived from root √sṛ 'to flow' with prefix sam-
  Prefix: sam
  Root: sṛ (class 1)
• duḥkha – suffering, pain, misery, sorrow
  noun (neuter)
• mokṣa – liberation, emancipation, freedom
  noun (masculine)
  Derived from root √muc 'to free'
  Root: muc (class 6)
• artha – purpose, meaning, aim, sake
  noun (masculine)

Note: Dative case indicating purpose.

मादृशैः (mādṛśaiḥ) - with those like me (by those like me, with those like me)

(adjective)

Instrumental, masculine, plural of mādṛś

mādṛś - like me, similar to me

Derived from `mad` (I/me) + `dṛś` (seeing/like)

Note: Agrees with `bandhubhiḥ`.

सह (saha) - with (with, together with)

(indeclinable)

Note: Governs instrumental case (`mādṛśaiḥ bandhubhiḥ`).

बन्धुभिः (bandhubhiḥ) - with friends/relatives (by friends, by relatives, with friends/relatives)

(noun)

Instrumental, masculine, plural of bandhu

bandhu - relative, kinsman, friend, brother

Derived from root √bandh 'to bind'

Root: bandh (class 1)

Note: Plural instrumental.

स्वरूपम् (svarūpam) - the true nature (one's own form, true nature, intrinsic nature)

(noun)

Accusative, neuter, singular of svarūpa

svarūpa - one's own form, true nature, intrinsic nature

Compound type : tatpuruṣa (sva+rūpa)

• sva – own, one's own
  pronoun (masculine)
• rūpa – form, shape, nature, appearance
  noun (neuter)

Note: Object of `jñātvā`.

आत्मनः (ātmanaḥ) - of the self (ātman) (of the self, of the soul, of oneself)

(noun)

Genitive, masculine, singular of ātman

ātman - self, soul, spirit, individual soul, supreme soul

Note: Possessive case for `svarūpam`.

ज्ञात्वा (jñātvā) - having known (having known, having understood)

(indeclinable)

absolutive (gerund)

Formed from root √jñā 'to know' with suffix -tvā

Root: jñā (class 9)

Note: Absolutive (gerund).

गुरुशास्त्रप्रमाणतः (guruśāstrapramāṇataḥ) - by the authority of guru and scriptures (by the authority of guru and scriptures, according to the evidence of guru and scriptures)

(indeclinable)

Taddhita suffix -tas indicating source or manner, applied to the compound `guruśāstrapramāṇa`

Compound type : dvandva-tatpuruṣa (guru+śāstra+pramāṇa)

• guru – teacher, preceptor, spiritual guide
  noun (masculine)
• śāstra – scripture, sacred text, treatise, instruction
  noun (neuter)
  Derived from root √śās 'to teach'
  Root: śās (class 2)
• pramāṇa – authority, proof, evidence, means of valid knowledge
  noun (neuter)
  Derived from root √mā 'to measure' with prefix pra-
  Prefix: pra
  Root: mā (class 2)

Note: The suffix -tas indicates 'by means of' or 'from'.