Bg. 6.28

युञ्जन्नेवं सदात्मानं योगी विगतकल्मषः ।
सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्नुते ॥२८॥

Text

yuñjann evaṁ sadātmānaṁ
yogī vigata-kalmaṣaḥ
sukhena brahma-saṁsparśam
atyantaṁ sukham aśnute

Synonyms

yuñjanplugin-autotooltip__small plugin-autotooltip_bigyuñjan

by applying; keeping; making; practicing like this; so practicing; thus being engaged in yoga practice.
—thus being engaged in yoga practice; evamplugin-autotooltip__small plugin-autotooltip_bigevam

also; as; as exhibited by him; as I have done; as mentioned above; certainly; in that way; in the same way; in this manner; in this way (as described previously); in this way (some sons having been cursed and some blessed); in this way (while they were enjoying their lunch); in this way; it is so; just in the same way; like this; only; similarly (as earthly wealth and possessions are impermanent); similarly; so; so living; such; that; therefore; this; thus (as above mentioned); thus (living a devotional life); thus; thus being always engaged; thus prescribed; thus, as aforementioned; yes, this is right.
—thus; sadāplugin-autotooltip__small plugin-autotooltip_bigsada

always; at all times; constantly; eternally.
—always; ātmānamplugin-autotooltip__small plugin-autotooltip_bigatmanam

and of the mind; by His energies; living entities; mind; most dear; of all living entities; of all other souls; of all the living entities; of men; of such a mind; of the body; of the living entities; of the people; of the subtle body; of those whose minds; the mind; thus inclined; whose minds are absorbed.
—self; yogīplugin-autotooltip__small plugin-autotooltip_bigyogi

a yogī; a mystic yogī; a mystic transcendentalist; a transcendentalist; although he was a great mystic yogī; being a bhakti-yogī in the order of renunciation; engaged in bhakti-yoga; engaged in devotion; mendicant; mystic; mystics; one who is in touch with the Supreme Self; such a transcendentalist; the yogī; the devotee; the devotees of the Lord; the great sage; the mystic; the mystic devotee; the mystic transcendentalist; transcendentalist.
—one who is in touch with the Supreme Self; vigataplugin-autotooltip__small plugin-autotooltip_bigvigata

ceased; deprived of; devoid of; discarded; given up; is freed from; lost; without.
—is freed from; kalmaṣaḥplugin-autotooltip__small plugin-autotooltip_bigkalmasah

all material contamination; whose sinful reactions.
—all material contamination; sukhenaplugin-autotooltip__small plugin-autotooltip_bigsukhena

by the transcendental bliss; in transcendental happiness.
—in transcendental happiness; brahmaplugin-autotooltip__small plugin-autotooltip_bigbrahma

brahma; brāhmaṇas; mantras beginning with oṁ (such as oṁ tad viṣṇoḥ paramaṁ padaṁ sadā paśyanti sūrayaḥ); Veda; Vedas; absolute; Absolute Truth; all my brahminical qualifications; all the Vedas; all the Vedas with their different branches of knowledge; all the Vedas; all transcendental literatures; and brahma; Being; brahma; Brahmaloka; Brahman; brahminical civilization; brahminical culture; by Lord Brahmā; called by the name Brahman; from the activities of Brahman realization or austerity; Gāyatrī hymns; impersonal Brahman; impersonal Brahman realization; is the brāhmaṇas; knowledge of Brahman; Kṛṣṇa; Lord Brahmā; of a brāhmaṇa; of impersonal Brahman; of impersonal Brahman, or the Absolute Truth; of Lord Brahmā; of the brāhmaṇas; of the impersonal effulgence; spirit; spiritual; spiritual kingdom; spiritual knowledge; spiritual nature; spiritual power; Supreme; the brāhmaṇas; the Vedas; the Absolute; the Absolute Truth; the all-pervading Absolute Truth; the brahminical culture; the greatest; the Gāyatrī mantra; the impersonal Brahman (which is an emanation from Kṛṣṇa); the impersonal Brahman; the impersonal Brahman effulgence; the impersonal feature; the Parabrahman, Kṛṣṇa; the personified Vedas; the Supreme; the Supreme Absolute Truth; the Supreme Brahman; the Supreme Brahman, the Personality of Godhead; the Supreme Lord; the Supreme Personality of Godhead; the supreme spirit; the supreme truth, the Absolute Truth, Brahman; the Vedic knowledge; the Vedic literatures; the Vedic wisdom; Transcendence; transcendental; truth; unlimited; Vedic; Vedic knowledge; Vedic sound; without change; You are known as Brahman.
-saṁsparśamplugin-autotooltip__small plugin-autotooltip_bigsaṁsparśam

touch.
—being in constant touch with the Supreme; atyantamplugin-autotooltip__small plugin-autotooltip_bigatyantam

highest.
—highest; sukhamplugin-autotooltip__small plugin-autotooltip_bigsukham

all happiness; all right; amenities; any happiness; comfortable; comfortably; convenient; easily; happily; happiness; happiness due to pious activities; happy; in happiness; in pleasure; is all well; material happiness; sense enjoyment; Sukha; transcendental happiness; without difficulty.
—happiness; aśnuteplugin-autotooltip__small plugin-autotooltip_bigaśnute

achieve; achieves; attains; enjoys; he enjoys; one enjoys; suffers; taste.
—attains. 

Translation

Steady in the Self, being freed from all material contamination, the yogī achieves the highest perfectional stage of happiness in touch with the Supreme Consciousness. 

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.