बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत्सुखम् | स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते ||५-२१||
bāhyasparśeṣvasaktātmā vindatyātmani yatsukham . sa brahmayogayuktātmā sukhamakṣayamaśnute ||5-21||
Chapter 5 · Verse 21
Karma Sannyasa Yoga
कर्मसंन्यासयोग
In plain words
When the mind is not attached to external objects of the senses when one is deeply engaged in the contemplation of Brahman he finds undecaying bliss in the Self within. If you want to enjoy the imperishable happiness of the Self within you will have to withdraw the senses from their respective objects and plunge yourself in deep meditation on the Self within. This is the gist of this verse.
Translation
5.21 He whose mind is detached from external contact, and finds happiness in the self - he has his mind engaged in the contemplation of Brahman and he enjoys undecaying bliss.
Meaning
When the mind is not attached to external objects of the senses when one is deeply engaged in the contemplation of Brahman he finds undecaying bliss in the Self within. If you want to enjoy the imperishable happiness of the Self within you will have to withdraw the senses from their respective objects and plunge yourself in deep meditation on the Self within. This is the gist of this verse.
Word by word
बाह्यस्पर्शेषु in external contacts असक्तात्मा one whose mind is unattached विन्दति finds आत्मनि in,the Self यत् (that) which सुखम् happiness सः he ब्रह्मयोगयुक्तात्मा with the self engaged in the meditation of Brahman सुखम् happiness अक्षयम् endless अश्नुते enjoys.