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Chapter 6, Verse 28

युञ्जन्नेवं सदाऽऽत्मानं योगी विगतकल्मषः। सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्नुते।।6.28।।

yuñjannevaṃ sadā''tmānaṃ yogī vigatakalmaṣaḥ। sukhena brahmasaṃsparśamatyantaṃ sukhamaśnute।।6.28।।

Word by word

युञ्जन्
engaging/uniting (the self, in yoga)
एवम्
thus
सदा
always/constantly
आत्मानम्
the self
योगी
the yogi
विगतकल्मषः
whose sins/impurities have departed
सुखेन
easily/with happiness
ब्रह्मसंस्पर्शम्
contact with Brahman
अत्यन्तम्
infinite/boundless
सुखम्
happiness
अश्नुते
attains/enjoys

Commentary

28. Thus always keeping the self steadfast,, the Yogin, freed from sins, attains with ease to the infinite bliss of contact with the (Supreme) Brah- man*

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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युञ्जन्
एवम्
सदा
आत्मानम्
योगी
विगतकल्मषः
सुखेन
ब्रह्मसंस्पर्शम्
अत्यन्तम्
सुखम्
अश्नुते

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