बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत्सुखम्।
स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते।।5.21।।
5.21 With his heart unattached to external objects, he gets the bliss that is in the Self. With his heart absorbed in meditation on Brahman, he acires undecaying Bliss.
5.21 With the self unattached to external contacts he finds happiness in the Self; with the self engaged in the meditation of Brahman he attains to the endless happiness.
5.21. The enjoyments that are born of contacts [with objects] are indeed nothing but sources of misery and have beginning and end. [Hence], an intelligent man does not get delighted in them, O son of Kunti !
Baahyasparsheshwasaktaatmaa vindatyaatmani yat sukham; Sa brahma yoga yuktaatmaa sukham akshayam ashnute.
bāhya-sparśheṣhu—external sense pleasure; asakta-ātmā—those who are unattached; vindati—find; ātmani—in the self; yat—which; sukham—bliss; saḥ—that person; brahma-yoga yukta-ātmā—those who are united with God through yog; sukham—happiness; akṣhayam—unlimited; aśhnute—experiences