Two people, or perhaps a group, are out walking in the rain, and instead of running for cover they laugh. The speaker says they laugh "as though we've never felt pain," which is a telling phrase. It suggests that pain exists somewhere in their lives, but for now it has been set aside, or at least feels very far away. The rain, usually something we want to avoid, becomes a kind of release.
The speaker feels light, open and joyful. Their eyes are "gleaming" and their hearts and minds are "finally free to wonder." That word "finally" hints at a time before this moment when they felt held back, though the poem doesn't say why. The mood is carefree and quietly hopeful. Short lines and simple wording keep it relaxed, almost like a deep breath. The ending leaves us with a sense of possibility: when you stop worrying about getting wet, your mind can drift anywhere.