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5.21Krishna
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बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत्सुखम् ।स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते ॥

bāhyasparśeṣv asaktātmā vindaty ātmani yat sukham |sa brahmayogayuktātmā sukham akṣayam aśnute ||

बाह्यस्पर्शेषु · bāhyasparśeṣu
in outer contacts
विन्दति · vindati
finds
सुखम् · sukham
joy
अक्षयम् · akṣayam
imperishable
अश्नुते · aśnute
enjoys, attains

Unattached to outer contacts, he finds joy within the self. His self joined to Brahman by yoga, he enjoys imperishable happiness.

Original plain-language translation

Two joys are contrasted: fleeting contact-pleasure and unfading inner joy. Detachment from the first unlocks the second. Union with Brahman is described as an enjoyment, not a blank void.

Reader's notes (original)