Translation
When you were born in this world
Everyone laughed while you cried
Conduct NOT yourself in manner such
That they laugh when you are gone

My Understanding
In this Doha, Kabir reflects on the fact that when a child is born, the entire family rejoices with glee.  And when a person passes away, those who are left behind mourn and cry.  However, true mourning is done for those who left a loving impression on their family, kith and kin, clan and society at large.  It has also been noted that when a cruel person passes away, people are more happy and relaxed rather than in a mourning state.

The impression of an individual, either as a compassionate one or a wicked one, is the outcome of one's actions conducted during one's lifetime.  Kabir, in this doha warns that if one will live one's life in an unbecoming manner, then no one will shed a tear on his death.

– Rajender Krishan