yuñjann evaṁ sadātmānaṁ
yogī vigata-kalmaṣaḥ
sukhena brahma-saṁsparśam
atyantaṁ sukham aśnute
yuñjanthus being engaged in yoga practice; evamthus; sadāalways; ātmānamself; yogī—one who is in touch with the Supreme Self; vigatais freed from; kalmaṣaḥall material contamination; sukhenain transcendental happiness; brahma-saṁsparśambeing in constant touch with the Supreme; atyantamhighest; sukhamhappiness; aśnuteattains.
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.
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.

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