Bhagavad Gita 6.27

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 .;