sukhena brahma-samsparsam
yunjan-thus being engaged in yoga practice; evam-thus; sada-always; atmanam-self; yogi-one who is in touch with the Supreme Self; vigata-is freed from; kalmasah-all material contamination; sukhena-in transcendental happiness; brahma-samsparsam-being in constant touch with the Supreme; atyantam-highest; sukham-happiness; asnute-attains.