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Bg. 6.28

युञ्जन्नेवं सदात्मानं योगी विगतकल्मष: ।
सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्न‍ुते ॥ २८ ॥
yuñjann evaṁ sadātmānaṁ
yogī vigata-kalmaṣaḥ
sukhena brahma-saṁsparśam
atyantaṁ sukham aśnute

Synonyms

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-saṁsparśam — being in constant touch with the Supreme; atyantam — the highest; sukham — happiness; aśnute — attains.

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.

Purport

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-saṁsparśa.

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