Bhagavad Gita Chapter 6 Verse 28
भगवद् गीता अध्याय 6 श्लोक 28

युञ्जन्नेवं सदाऽऽत्मानं योगी विगतकल्मषः।
सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्नुते।।6.28।।



English Translation - Swami Gambirananda
6.28 By concentrating his mind constantly thus, the taintless yogi easily attains the absolute Bliss of contact with Brahman.


English Translation of Ramanuja's Sanskrit Commentary
6.28 Thus, in the above - said manner, devoting himself to the Yoga of the self and by that means expelling all old impurities, the Yogin attains perfect, i.e., boundless felicity at all times easily, without stress and strain. The felicity is born of the contact with the Brahman (Atman), meaning the joy of experience of the Brahman.

Now Sri Krsna says that the mature stage of Yoga consists of four degrees, as stated in the succeeding verses from 29th to 32nd.


Transliteration Bhagavad Gita 6.28Yunjannevam sadaa’tmaanam yogee vigatakalmashah;
Sukhena brahmasamsparsham atyantam sukham ashnute.


Word Meanings Bhagavad Gita 6.28yuñjan—uniting (the self with God); evam—thus; sadā—always; ātmānam—the self; yogī—a yogi; vigata—freed from; kalmaṣhaḥ—sins; sukhena—easily; brahma-sansparśham—constantly in touch with the Supreme; atyantam—the highest; sukham—bliss; aśhnute—attains