Chapter VI Sloka 27

ŗzaNtmns< żen< yaeign< suomuńmm!,
%pEit zaNtrjs< šŁ-UtmkLm;m! .

praĢėntamanasa’ hyena’ 
yogina’ sukhamuttamam |
upaiti Ģėntarajasa’
brahmabh®tamakalmaˇam ( 6|27)||

Supreme Bliss verily comes to this Yogi whose mind is quite peaceful, whose passion is quieted, who has become Brahman and who is free from sin.

Commentary: In this verse and in the next also the Lord describes the benefits of Yoga.
Supreme (eternal, unalloyed and uninterrupted) bliss comes to the Yogi whose mind is perfectly serene, who has calmed his passionate nature, who has destroyed all sorts of attachments, who has attained knowledge of the Self and thus become a Jivanmukta or one who is liberated while living, who feels that all is Brahman only, and who is taintless, i.e., who is not affected by Dharma or Adharma (good or evil).