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।


Rudra Vaishnava Sampradaya - Commentary




The reason why a person is free from delusion and has there mind fixed in
transcendence is now being given by Lord Krishna. The word sparsesu means
sense pleasures and those attached to them are called spharsa. But one
whose mind is unattached and is withdrawn internally ceases to crave, yearn
and desire for indulging in the objects of the senses. Such a person
attains the sublime and serene bliss that is the nature of the atma or
soul. Having attained the wonder of atma tattva or realisation of the soul
one continuously identifies with the Brahman by being immersed in this
consciousness and experiences never ending bliss.


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.


Shri Vaishnava Sampradaya - Commentary




Here Lord Krishna describes the reality for the person who desists from
attachments to anything except the atma or eternal soul and who derives all
pleasures exclusively from their internal relationship with the atma
relinquishing all desires for sensuous material enticements and instead
delighting in brahma-yoga or the science of the individual consciousness
attaining communion with the Ultimate Consciousness by realising the
spiritual substratum pervading all existence. Such a person attains sukham-
aksayam or imperishable happiness. Next it will be illustrated how desire
for material sense gratification can be easily abandoned.


Kumara Vaishnava Sampradaya - Commentary
Here Lord Krishna describes the reality for the person who desists from
attachments to anything except the atma or eternal soul and who derives all
pleasures exclusively from their internal relationship with the atma
relinquishing all desires for sensuous material enticements and instead
delighting in brahma-yoga or the science of the individual consciousness
attaining communion with the Ultimate Consciousness by realising the
spiritual substratum pervading all existence. Such a person attains sukham-
aksayam or imperishable happiness. Next it will be illustrated how desire
for material sense gratification can be easily abandoned.