yunjann evam sadatmanam
atyantam sukham asnute
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.
Steady in the Self, being freed from all material contamination, the yogi achieves the highest perfectional stage of happiness in touch with the Supreme Consciousness.
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-samsparsa.
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