BG 6.28

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.

6.28. Thus yoking the self always, the man of Yoga, with subdued mind, easily attains a complete union [viz.,] the Brahman.

6.28 Thus, free from sin, abiding always in the Eternal, the saint enjoys without effort the Bliss which flows from realisation of the Infinite.

6.26-28 Yatah etc. upto adhigacchati. From whatever objects the mind returns, immediately after its return, let him ieten it on the Self. Otherwise, being not firmly established [in the Self], the mind would again take hold of nothing but the sense-objects. But the Bliss, assuming the roll of an agent (or subject, kartv-bhuta) comes to the object (karmabhuta), viz., the man-of-Yoga, whose mind remains ite in the Self. By this way alone the men-of-Yoga attain the Brahman easily and not by [any] difficult Yoga etc. This is the idea [here].

6.28 Thus, in the above - said manner, devoting himself to the Yoga of the self and by that means expelling all old impurities, the Yogin attains 'perfect', i.e., boundless felicity at all times easily, without stress and strain. The felicity is born of the contact with the Brahman (Atman), meaning the joy of experience of the Brahman. Now Sri Krsna says that the mature stage of Yoga consists of four degrees, as stated in the succeeding verses from 29th to 32nd.

6.28 Sada yunjan, by constantly concentrating; atmanam, his mind; evam, thus, in the process stated; vigata-kalmasah, the taintles, sinless yogi, free from the obstacles to Yoga; sukhena, easily; asnute, attains; atayantam, absolute-that which exists by transcending limits-, supreme, unsurpassable; sukham, Bliss; of brahma-samsparsam, contact with Brahman-the Bliss that is in touch [In touch with, i.e. identified with, homogeneous with, in essential oneness with.] with the supreme Brahman. Now is being shown that result of Yoga which is the realization of identity with Brahman and which is the cause of the extinction of the whole mundane existence . [Liberation is conceived of in two ways-total cessation of sorrows, and attainment of unsurpassable Bliss.]

6.28 Thus devoting himself to the Yoga of the self, freed from impurities, the Yogin easily attains the supreme bliss of contact with the Brahman.

6.28 By concentrating his mind constantly thus, the taintless yogi easily attains the absolute Bliss of contact with Brahman.