|Chapter 6: Dhyāna-yoga|
Bhaktivedanta VedaBase: Bhagavad-gītā As It Is 6.28
yuñjann evaḿ sadātmānaḿ
atyantaḿ sukham aśnute
yuñjan — engaging in yoga practice; evam — thus; sadā — always; ātmānam — the self; yogī — one who is in touch with the Supreme Self; vigata — freed from; kalmaṣaḥ — all material contamination; sukhena — in transcendental happiness; brahma-saḿsparśam — being in constant touch with the Supreme; atyantam — the highest; sukham — happiness; aśnute — attains.
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.
Self-realization means knowing one's constitutional position in relationship to the Supreme. The individual soul is part and parcel of the Supreme, and his position is to render transcendental service to the Lord. This transcendental contact with the Supreme is called brahma-saḿsparśa.
Copyright © The Bhaktivedanta Book Trust International, Inc.
His Divine Grace A. C. Bhaktivedanta Swami Prabhupāda, Founder Ācārya of the International Society for Krishna Consciousness