बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत्सुखम् |\nस ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते ||५-२१||
bāhyasparśeṣvasaktātmā vindatyātmani yatsukham .\nsa brahmayogayuktātmā sukhamakṣayamaśnute ||5-21||
Those who are not attached to external sense pleasures realize divine bliss in the self.  Being united with God through Yog, they experience unending happiness.