वेत्ति यत्र न चैवायं स्थितश्चलति तत्त्वतः।।6.21।।
6.21 When one experienece that absolute Blisss which can be intuited by the intellect and which is beyond the senses, and being established (thus) this person surely does not swerve from Reality;
6.20 - 6.23 Where, through the practice of Yoga, the mind, which is subdued everywhere by such practice, rejoices, i.e., rejoices in surpassing felicity; and where, perceiving through Yoga the self (Atman) by the mind (Atman) one is delighted by the self and indifferent to all other objects; and where, through Yoga, one knows, i.e., experiences that infinite happiness which can be grasped only by the intellect contemplating on the self, but is beyond the grasp of the senses; where, remaining in that Yoga, one does not swerve from that state, because of the overwhelming happiness that state confers; having gained which, he desires for it alone, even when he is awakened from Yoga, and does not hold anything else as a gain; where one is not moved even by the heaviest sorrow caused by any berevaement like that of a virtuous son - let him know that disunion from all union with pain, i.e., which forms the opposite of union with pain, is called by the term Yoga. This Yoga must be practised with the determination of its nature as such from the beginning with a mind free from despondency, i.e., with zestful exaltation.
Sukhamaatyantikam yattad buddhi graahyamateendriyam; Vetti yatra na chaivaayam sthitashchalati tattwatah.
sukham—happiness; ātyantikam—limitless; yat—which; tat—that; buddhi—by intellect; grāhyam—grasp; atīndriyam—transcending the senses; vetti—knows; yatra—wherein; na—never; cha—and; eva—certainly; ayam—he; sthitaḥ—situated; chalati—deviates; tattvataḥ—from the Eternal Truth