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Chapter 5, Verse 21

बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत्सुखम्। स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते।।5.21।।

bāhyasparśeṣvasaktātmā vindatyātmani yatsukham। sa brahmayogayuktātmā sukhamakṣayamaśnute।।5.21।।

Word by word

बाह्यस्पर्शेषु
in external sense-contacts (touches/objects)
असक्तात्मा
one whose mind/self is unattached
विन्दति
finds/experiences
आत्मनि
in the self
यत् सुखम्
whatever happiness (there is)
सः
he
ब्रह्मयोगयुक्तात्मा
whose self is united with Brahman through yoga
सुखम्
happiness
अक्षयम्
imperishable/inexhaustible
अश्नुते
enjoys/attains

Commentary

21. With the self unattached to external contacts, he finds the joy which is in the Self; with the Self engaged in the contemplation of Brahman he attains the endless joy.

Source: Alladi Mahadeva Sastri, The Bhagavad-Gita with the Commentary of Sri Shankaracharya (1897), public domain

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Sanskrit (in order)

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बाह्यस्पर्शेषु
असक्तात्मा
विन्दति
आत्मनि
यत् सुखम्
सः
ब्रह्मयोगयुक्तात्मा
सुखम्
अक्षयम्
अश्नुते

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