शक्नोतीहैव यः सोढुं प्राक्शरीरविमोक्षणात्।
कामक्रोधोद्भवं वेगं स युक्तः स सुखी नरः।।5.23।।
5.23 One who can withstand here itself-before departing from the body-the impulse arising from desire and anger, that man is a yogi; he is happy.
5.23 When a man is able to withstand, i.e., to control the impulses of emotions like desire and anger by his longing for the experience of self, he is released here itself from the body, i.e., even during the state when he is practising the means for release, he gains the capacity for experiencing the self. But he becomes blessed by the experience and gets immersed in the bliss of the self only after the fall of the body (at the end of his Prarabdha or operative Karma). [The implication is that in this system there is no Jivan-Mukti or complete liberation even when the body is alive. Only the state of Sthita-prajna or of one of steady wisdom can be attained by an embodied Jiva.]
Shaknoteehaiva yah sodhum praak shareera vimokshanaat; Kaamakrodhodbhavam vegam sa yuktah sa sukhee narah.
śhaknoti—is able; iha eva—in the present body; yaḥ—who; soḍhum—to withstand; prāk—before; śharīra—the body; vimokṣhaṇāt—giving up; kāma—desire; krodha—anger; udbhavam—generated from; vegam—forces; saḥ—that person; yuktaḥ—yogi; saḥ—that person; sukhī—happy; naraḥ—person