The poem
Return often and take me, beloved sensation, return and take me -- when the memory of the body awakens, and an old desire runs again through the blood; when the lips and the skin remember, and the hands feel as if they touch again.
Return often and take me at night, when the lips and the skin remember....
This is a beautiful poem— sensual love remembered and, through that memory, re-experienced.
The translation by Rae Dalven has a slightly different fourth line which I think is better:
Return often and take me,
beloved sensation, return and take me—
when the memory of the body awakens,
and old desire again runs through the blood;
when the lips and the skin remember,
and the hands feel as if they touch again.
Return often and take me at night,
when the lips and the skin remember . . .