Bhaktivedanta VedaBase: Bhagavad-gītā As It Is 6.28

yuñjann evaḿ sadātmānaḿ

yogī vigata-kalmaṣaḥ

sukhena brahma-saḿsparśam

atyantaḿ sukham aśnute

SYNONYMS

yuñjan — engaging in yoga practice; evam — thus; sadā — always; ātmānam — the self; yogī — one who is in touch with the Supreme Self; vigata — freed from; kalmaṣaḥ — all material contamination; sukhena — in transcendental happiness; brahma-saḿsparśam — being in constant touch with the Supreme; atyantam — the highest; sukham — happiness; aśnute — attains.

TRANSLATION

Thus the self-controlled yogī, constantly engaged in yoga practice, becomes free from all material contamination and achieves the highest stage of perfect happiness in transcendental loving service to the Lord.

PURPORT

Self-realization means knowing one's constitutional position in relationship to the Supreme. The individual soul is part and parcel of the Supreme, and his position is to render transcendental service to the Lord. This transcendental contact with the Supreme is called brahma-saḿsparśa.

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His Divine Grace A. C. Bhaktivedanta Swami Prabhupāda, Founder Ācārya of the International Society for Krishna Consciousness