Understanding Kirtan Meaning

Waheguru Ji Ka Khalsa Waheguru Ji Ki Fateh,

I was listening to this Kirtan "Darshan Dekh Sabai Dukh Bisare." The video’s description said it is from the Dasam Granth, but I couldn't find it. Can someone help me understand the meaning of this Kirtan.

I kind of understand the meaning: Gazing upon you, (Baba Ji), pain is dispelled? My Punjabi isn’t really fluent but I’m trying to get better.