viksya tasya mudam yayuh
The heroes embraced Lord Acyuta, and the touch of His body freed them of sin. Looking at His affectionate, smiling face, they were overwhelmed with joy.
Srila Jiva Gosvami explains that since the Pandavas were never sinful, the term enasah here refers to the suffering caused by separation from Krsna. That unhappiness was now vanquished by the Lord’s return.