Idea about soul in Whitman's Song of Myself?

Whitman then describes an encounter between his body and soul. He invites his soul to “loafe with me on the grass” and to lull him with its “valved voice.” He tells his soul to settle upon him, “your head athwart my hips and gently turn’d / over upon me…..” He invites his soul to undress him and reach inside him until the soul feels his feet. This will bring him perfect peace “that pass all the argument of the earth….” This peace is the promise of God and is what allows all people to become his brothers and sisters. Check out this excerpt from the GradeSaver site, there is more detail too.