The song begins:
We were borne before the windMorrison's interesting choice of using "We" to start the song gives it a more common, unifying experience for the listener. By starting the song like this, he forces the listener to immediately get into the scenery that he paints of being on a boat, facing the wind, and enjoying life. Along with using "we", Morrison goes on in the song to say "I want to rock your gypsy soul" separating himself from the listener a bit. By describing the audience as having a "gypsy soul", Morrison produces an expectation that his listeners be free-spirited, with a zest for life, like an actual gypsy.
Also younger than the sun
Ere the bonnie boat was one
Hark, now hear the sailors cry
Smell the sea and feel the sky
Let your soul and spirit fly into the mystic
Since Morrison is successful in creating not only a common experience but an individual one for the listener, he fully conveys the idea that life is experienced in very much the same way. The lyrics show a person searching for their "foghorn" or meaning in life while also yearning for the freedom to "float" through their days in the "mystic" of it.
Morrison's imagery of a boat floating freely through fog is a metaphor for the obscure, unknown parts of life that we don't understand until they've been reached. "Into the Mystic" gives its listeners permission to relax and go with the flow of life, as he reminds them that they truly don't have much control over it.
And together we will float into the mystic
Come on girl
Too late to stop now
He ends the song perfectly with five short words that summarize his message, that even though life is unpredictable, like a "gypsy soul", we must carry on.