The poem begins with hands, aged and handsome, that "understand with a touch." Knowledge here comes through the body rather than through words, which fits the title. The speaker seems to be describing an intimate moment, perhaps between two people, where nothing needs to be explained.
Then the poem widens. "Everything speaks" suggests that once we pay attention this closely, the whole world becomes a kind of language. The line "we begin to swell like the moon" turns the pair, or perhaps all of us, into part of nature, rising and growing fuller the way the moon does.
The last image is a "wild creature" over the wood at evening. It's left unexplained, and that's the point: it could be the moon, an animal, or the wildness the speaker feels in themselves. The mood is quiet, sensual, and a little awed, as if the speaker is stepping out of ordinary life into something older and more instinctive.