There's not really that much to this poem. It's a straight-forward love poem.
In the first stanza, he's saying that there are lots of kinds of things that mingle together. Some examples of this are rivers and oceans and the winds. So, he says, if these things can mingle, why not him and his beloved.
In the second stanza he moves on to kissing and hugging. Lots of things kiss. Mountains kiss heaven. Waves hug each other. But all of that would be worthless if his love won't kiss him.