3 Without pleasure: ne her need implore
ne her need > [nor did she need to]
4 Lucina's aid: which when they both perceived,
Lucina > (The goddess of childbirth; sometimes identified with Juno or Diana)
5 They were through wonder nigh of sense bereaved
bereaved > robbed
6 And, gazing each on other, naught bespoke:
bespoke > spoke
7 At last they both agreed, her (seeming grieved)
grieved > hurt, hence: in pain; and also: grieved