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5.23Krishna
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शक्नोतीहैव यः सोढुं प्राक्शरीरविमोक्षणात् ।कामक्रोधोद्भवं वेगं स युक्तः स सुखी नरः ॥

śaknotīhaiva yaḥ soḍhuṃ prāk śarīravimokṣaṇāt |kāmakrodhodbhavaṃ vegaṃ sa yuktaḥ sa sukhī naraḥ ||

शक्नोति · śaknoti
is able
इह एव · iha eva
right here
सोढुम् · soḍhum
to endure, withstand
प्राक् · prāk
before
कामक्रोधोद्भवम् · kāmakrodhodbhavam
born of desire and anger
वेगम् · vegam
surge, impulse
सुखी · sukhī
happy

One who can withstand, even here before release from the body, the surge born of desire and anger — he is disciplined, he is a happy man.

Original plain-language translation

Freedom is tested before death, not postponed beyond it. Desire and anger arrive as a flood-vehement force to be weathered. Endurance here defines both the yogi and the truly happy person.

Reader's notes (original)