योगवासिष्ठः yogavāsiṣṭhaḥ - book-6, chapter-24, verse-34

शरीरपुरपालस्य मनसो रथचक्रयोः ।
अहंकारनृपस्यास्य प्रशस्येष्टतुरङ्गयोः ॥ ३४ ॥

śarīrapurapālasya manaso rathacakrayoḥ ,
ahaṃkāranṛpasyāsya praśasyeṣṭaturaṅgayoḥ 34

34. śarīrapurapālasya manasaḥ rathacakrayoḥ
ahaṅkāranṛpasya asya praśasyeṣṭaturaṅgayoḥ

34. asya ahaṅkāranṛpasya śarīrapurapālasya
manasaḥ rathacakrayoḥ praśasyeṣṭaturaṅgayoḥ

34. Of this king, the ego (ahaṅkāra), who guards the body, which is like a city; of the mind, which functions as the two chariot wheels; and of the two praised and desired horses.

Words meanings summery:

• शरीरपुरपालस्य (śarīrapurapālasya) - of the protector of the body-city

• मनसः (manasaḥ) - of the mind

• रथचक्रयोः (rathacakrayoḥ) - of the two chariot wheels

• अहङ्कारनृपस्य (ahaṅkāranṛpasya) - of the king ego (ahaṅkāra)

• अस्य (asya) - of this, of him

• प्रशस्येष्टतुरङ्गयोः (praśasyeṣṭaturaṅgayoḥ) - of the two praised and desired horses

Words meanings and morphology

शरीरपुरपालस्य (śarīrapurapālasya) - of the protector of the body-city

(noun)

Genitive, masculine, singular of śarīrapurapāla

śarīrapurapāla - protector of the body-city

Compound type : tatpurusha (śarīra+purapāla)

• śarīra – body
  noun (neuter)
• purapāla – city protector, guardian of a city
  noun (masculine)

मनसः (manasaḥ) - of the mind

(noun)

Genitive, neuter, singular of manas

manas - mind, intellect, consciousness

Root: man (class 4)

Note: Result of sandhi: manaso

रथचक्रयोः (rathacakrayoḥ) - of the two chariot wheels

(noun)

Genitive, neuter, dual of rathacakra

rathacakra - chariot wheel

Compound type : tatpurusha (ratha+cakra)

• ratha – chariot, carriage
  noun (masculine)
  Root: ṛ (class 3)
• cakra – wheel, disc, circle
  noun (neuter)
  Root: kṛ (class 8)

अहङ्कारनृपस्य (ahaṅkāranṛpasya) - of the king ego (ahaṅkāra)

(noun)

Genitive, masculine, singular of ahaṅkāranṛpa

ahaṅkāranṛpa - king ego

Compound type : karmadhāraya (ahaṅkāra+nṛpa)

• ahaṅkāra – ego, self-sense, identification with 'I'
  noun (masculine)
• nṛpa – king, monarch
  noun (masculine)

अस्य (asya) - of this, of him

(pronoun)

Genitive, masculine, singular of idam

idam - this, this one, he, she, it

प्रशस्येष्टतुरङ्गयोः (praśasyeṣṭaturaṅgayoḥ) - of the two praised and desired horses

(noun)

Genitive, masculine, dual of praśasyeṣṭaturaṅga

praśasyeṣṭaturaṅga - praised and desired horse

Compound type : tatpurusha (praśasyeṣṭa+turaṅga)

• praśasyeṣṭa – praised and desired
  adjective (masculine)
• turaṅga – horse
  noun (masculine)