The poem depicts a first person view of walking through the streets of 18th Century London and their criticisms of the higher powers and authority
"And mark in every face I meet / marks of weakness, marks of woe." - The speaker sees signs of suffering on everyone he meets, showing his empathy towards others.
"I wander thro' each charter'd street" - The speaker is wandering around the city, suggesting that they are lost or disorientated. Also, the idea of 'charter'd' connotes ownership and possession which can refer back to authority.
"In every cry of every man / In every infant's cry of fear" - The speaker is aware that there are innocent people who suffer because of the actions of those with power.
'Mind-forged manacles' metaphorically depicts the idea that the people of London are oppressed and manipulated into thinking a specific way that is encouraged by the Government.