Satsang (association with the Self) means to understand, 'What this world is and what it is not.

This satsang (association with the Self) is the only thing that can establish a state that is free of fear. Otherwise, no one else can free us of fear.

All the doors of your intellect get shut in this satsang. Slowly everything becomes clarified; the Gnani Purush makes us just as He is! The Gnani himself has become the real form as the absolute Self (Parmatma swaroop). [By remaining] In 'his' company, that form manifests for us too.