Bhagavad Gita Chapter 5 Verse 21
भगवद् गीता अध्याय 5 श्लोक 21

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



हिंदी अनुवाद - स्वामी रामसुख दास जी ( भगवद् गीता 5.21)
।।5.21।।बाह्यस्पर्शमें आसक्तिरहित अन्तःकरणवाला साधक आत्मामें जो सुख है उसको प्राप्त होता है। फिर वह ब्रह्ममें अभिन्नभावसे स्थित मनुष्य अक्षय सुखका अनुभव करता है।


English Translation of Sanskrit Commentary By Sri Shankaracharya's
5.21 Asakta-atma, with his heart, internal organ, unattached, bahya-sparsesu, to external objects-sparsah means objects that are contacted, viz sound etc.; bahya-sparsah means those things which are external (bahya) and are objects of contact; that person who thus has his heart unattached, who derives no happiness from objects; he vindati, gets that sukham, bliss; yat, which is; atmani, in the Self. Brahma-yoga-yukta-atma, with his heart absorbed in meditation on Brahman-meditation (yoga) on Brahman is brahma-yoga; one whose internal organ (atma) is absorbed in (yukta), engaged in, that meditation on Brahman is brahma-yoga-yukta-atma; he asnute, acires; aksayam, undecaying; sukham, Bliss.
So, he who cherishes undecaying happiness in the Self should withdraw the organs from the momentary happiness in external objects. This is the meaning.
For this reason also one should withdraw:


English Translation of Commentary  - Dr. S. Sankaranarayan
5.21 He,  in whom there is no desire  for the external  touch viz.,  the object-he  thinks says as  follows the Bhagawat -


English Translation of Ramanuja's Sanskrit Commentary
5.21 He who finds happiness in the self within himself, his mind detached from external contact in the manner already mentioned, i.e., from experience of objects other than the self - such a person abandoning the contemplation on Prakrti or bodily experiences, has his mind engaged in the contemplation on Brahman i.e., the Atman. Thus he attains everlasting bliss which consists in the experience of Brahman (the self).

Sri Krsna speaks of the abandonment of material pleasure as easy:


Transliteration Bhagavad Gita 5.21Baahyasparsheshwasaktaatmaa vindatyaatmani yat sukham;
Sa brahma yoga yuktaatmaa sukham akshayam ashnute.


Word Meanings Bhagavad Gita 5.21bāhya-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