The poem begins with two oddly specific images: a rope-maker being led to his rope-ground, and a stove that seems to "drink some light." Both involve a thing returning to the place where it does its work or finds what it needs. The rope-maker belongs to his long strip of ground, and the stove takes in light the way a body might take in warmth. These are quiet, physical pictures of belonging and nourishment.
Then the poem turns to "we," two people touching. The speaker suggests that their hands reveal the relationship more truthfully than speech could. Others might read the two of them by how they reach for each other, not by what they say.
The title, "Eros," points to desire, but the mood is more tender than urgent. It feels hushed and observant, like a private moment seen close up. The poem seems to say that love is a kind of craft and a kind of warmth, learned and shown by the hands.