Bhagavad-gītā 6.28
BG 6.28
Open the full passageयुञ्जन्नेवं सदात्मानं योगी विगतकल्मषः । सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्नुते ॥२८॥
Sanskrit
yuñjann evaṁ sadātmānaṁ yogī vigata-kalmaṣaḥ sukhena brahma-saṁsparśam atyantaṁ sukham aśnute
Translation
Thus the self-controlled yogī, constantly engaged in yoga practice, becomes free from all material contamination and achieves the highest stage of perfect happiness in transcendental loving service to the Lord.