This is one of the most fascinating verses in the Odu Ifa corpus. I am reposting it without commentary, from the Sacred Odu Ifa Oracle book by Afolabi and Neimark. It will behoove you to study this verse deeply and try to understand it as much as possible for this verse is IT.

Irosun Iwori

Let us do things with joy.
Those who want to go, let them go.
Those who want to stay, let them stay.
Surely, humans have been chosen to bring...