BG 2.64

But a person free from all attachment and aversion and able to control his senses through regulative principles of freedom can obtain the complete mercy of the Lord.

2.64. On the contrary, one who moves about (consumes) the sense-objects by means of his senseorgans, that are freed from desire and hatred and are controlled in the Self-such one with a disciplined self (mind) attains serenity [of disposition].

2.64 But the self-controlled soul, who moves amongst sense objects, free from either attachment or repulsion, he wins eternal Peace.

2.64 See Comment under 2.68

2.64 Having focussed, in the way already described, the mind on Me - the Lord of all and the auspicious object of meditation, he who goes through, i.e., considers with contempt the sense-objects, with senses under control and free from hate and attraction by reason of all impurities of mind being burnt out - such a person has a disciplined self, i.e., disciplined mind. He attains serenity. The meaning is that his mind will be free of impurities.

2.64 Certainly the functions of the organs are naturally preceded by attraction and repulsion. This being so, caran, by perceiving; visayan, objects, which are unavoidable; indriyaih, with the organs such as ears etc.; raga-dvesa-viyuktaih, that are free from those attraction and repulsion; and are atma-vasyaih, under his own control; vidheya-atma, [A.G. takes atma-vasyaih in the sense of '(with the organs) under the control of the mind'. He then argues that it the mind be not under control, there can be no real control, over the organs. Hence the text uses the second expression, 'vidheyatma, whose mind can be subdued at will'. Here atma is used in the sense of the mind, according to the Commentator himself.] the self-controlled man, whose mind can be subdued at will, a seeker after Liberation; adhigacchati, attains; prasadam, serenity, self-poise. What happens when there is serenity? This is being answered:

2.64 But he who goes through the sense-objects with the senses free from love and hate, disciplined and controlled, attains serenity.

2.64 But by perceiving objects with the organs that are free from attraction and repulsion, and are under his own control, the self-controlled man attains serenity.