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बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत्सुखम् । स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते॥६-२७-२१॥
One whose self is unattached to external contacts finds the happiness that is in the self. United with the yoga of Brahman, such a person attains imperishable happiness.
english translation
ये हि संस्पर्शजा भोगा दुःखयोनय एव ते । आद्यन्तवन्तः कौन्तेय न तेषु रमते बुधः॥६-२७-२२॥
For enjoyments born of contact are indeed sources of suffering; they have a beginning and an end, O son of Kuntī. The wise do not delight in them.
english translation
शक्नोतीहैव यः सोढुं प्राक्शरीरविमोक्षणात् । कामक्रोधोद्भवं वेगं स युक्तः स सुखी नरः॥६-२७-२३॥
Whoever, even here—before relinquishing the body—can endure the surge born of desire and anger, that person is disciplined (yukta) and is a happy human being.
english translation
योऽन्तःसुखोऽन्तरारामस्तथान्तर्ज्योतिरेव यः । स योगी ब्रह्मनिर्वाणं ब्रह्मभूतोऽधिगच्छति॥६-२७-२४॥
One who finds happiness within, who delights within, and whose light is within—such a yogin, having become Brahman (brahma-bhūta), attains brahma-nirvāṇa.
english translation
लभन्ते ब्रह्मनिर्वाणमृषयः क्षीणकल्मषाः । छिन्नद्वैधा यतात्मानः सर्वभूतहिते रताः॥६-२७-२५॥
The seers (ṛṣis) attain brahma-nirvāṇa—those whose impurities are exhausted, whose doubts are cut off, who are self-controlled, and who delight in the welfare of all beings.
english translation