yuñjann evaṁ sadātmānaṁ
atyantaṁ sukham aśnute
yuñjan — engaging in yoga practice; evam — thus; sadā — always; ātmānam — the self; yogī — one who is in touch with the Supreme Self; vigata — freed from; kalmaṣaḥ — all material contamination; sukhena — in transcendental happiness; brahma-saṁsparśam — being in constant touch with the Supreme; atyantam — the highest; sukham — happiness; aśnute — attains.
Thus the self-controlled yogī, constantly engaged in yoga practice, becomes free from all material contamination and achieves the highest stage of perfect happiness in transcendental loving service to the Lord.
. . .
युञ्जन्नेवं सदात्मानं योगी विगतकल्मष: ।
सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्नुते ॥ २८ ॥