Despite being chanted in Sanskrit, it is relatively easy for most beginners to pronounce, with a universal, non-denominational appeal in the form of a simple imperative:
"May I be inspired to keep moving from the untruth (or misunderstanding) into the truth, from darkness (ignorance or fear) into the light, transforming suffering into bliss."
Please note that this is my liberal translation. Feel free to compare with others to enhance your own interpretation.
We chant it very simply, in the style I learned in my Yoga Teacher Training at the International Sivananda Yoga Vedanta Centres.
In my classes, we chant it accompanied only by the peaceful drone of the Shruti Box, but there are many other more orchestral versions which you may enjoy listening to or chanting along with.
Here are a couple to get you started:
The first version is an epic musical performance, most famous for appearing in the end credits of The Matrix and the second is a gentler, more traditional rendition from Ravi Shankar and George Harrison.