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Bhagavad Gita Chapter 5 Verse 21

भगवद् गीता अध्याय 5 श्लोक 21

बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत्सुखम्।
स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते।।5.21।।

हिंदी अनुवाद - स्वामी तेजोमयानंद

।।5.21।। बाह्य विषयों में आसक्तिरहित अन्तकरण वाला पुरुष आत्मा में ही सुख प्राप्त करता है ब्रह्म के ध्यान में समाहित चित्त वाला पुरुष अक्षय सुख प्राप्त करता है।।

Brahma Vaishnava Sampradaya - Commentary

In this verse Lord Krishna again clarifies yoga or the science of the individual consciousness attaining communion with the ultimate consciousness and how this relates to equanimity of actions. Without any other desires internal or external only the person who relishes and revels in the atma or eternal soul is alone eligible for realisation of the Brahman or the spiritual substratum pervading all existence and the bliss accompanying it. The communion of the atma is the same as the communion of the Brahman for they both possess the same eternal nature and the only way this communion can be attained is through mediation of yoga and no other way. Now begins the summary. So it can be understood that if even by remembrance of the potencies of the Supreme Lord so much happiness can be gained then what can be said for one who devotes themselves wholeheartedly to the Supreme Lord in a concentrated manner.