विगतेच्छाभयक्रोधो यः सदा मुक्त एव सः।।5.28।।
5.28. Having known Me as the Enjoyer of [the fruits of] sacrifices and austerties, as the great Lord of all the worlds, and as the Friend of all beings, he (the man of Yoga) attains peace.
5.27-28 Sparsan etc.; Yatendriya-etc. Warding off outside, i.e., not accepting, the external contacts (objects); establishing all the sense-organs - indicated by sense of sight - in the middle place in between the two wandering ones, i.e., the right and the left views in the form of desire and wrath viz., in that particular place which is free from both these; he would remain fixing in eipoise (or making neutral) both the forward (upward) and backward (downward) moving forces viz., the pious and impious acts, within the mental modification. Nasa that which acts crookedly. This is mental modification, because it behaves crookedly i.e., ineally due to anger etc. The same is in the external plane. A man of Yoga of this type is just free, though he transacts all mundane business.
Yatendriya manobuddhir munir mokshaparaayanah; Vigatecchaabhaya krodho yah sadaa mukta eva sah.
sparśhān—contacts (through senses); kṛitvā—keeping; bahiḥ—outside; bāhyān—external; chakṣhuḥ—eyes; cha—and; eva—certainly; antare—between; bhruvoḥ—of the eyebrows; prāṇa-apānau—the outgoing and incoming breaths; samau—equal; kṛitvā—keeping; nāsa-abhyantara—within the nostrils; chāriṇau—moving; yata—controlled; indriya—senses; manaḥ—mind; buddhiḥ—intellect; muniḥ—the sage; mokṣha—liberation; parāyaṇaḥ—dedicated; vigata—free; ichchhā—desires; bhaya—fear; krodhaḥ—anger; yaḥ—who; sadā—always; muktaḥ—liberated; eva—certainly; saḥ—that person