|| 5.21 ||
बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत्सुखम्। स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते।।
bāhya-sparśeṣv asaktātmā vindaty ātmani yat sukham sa brahma-yoga-yuktātmā sukham akṣayam aśnute
Word by Word
bāhya-sparśeṣu (in external sense contact) asakta-ātmā (unattached) vindati (finds) ātmani (in the self) yat (that which) sukham (happiness) saḥ (he) brahma-yoga (concentration on Brahman) yukta-ātmā (self-connected) sukham (happiness) akṣayam (unlimited) aśnute (enjoys)
Translation
Such a liberated person is not attracted to material sense pleasure but is always in trance, enjoying the pleasure within. In this way the self-realized person enjoys unlimited happiness, for he concentrates on the Supreme.
Meaning
Kṛṣṇa explains where the yogī finds their joy. A liberated person is not attracted to external sense pleasures. Instead, they enjoy the pleasure found within the soul. By concentrating on the Supreme (‘brahma-yoga’), they experience ‘sukham akṣayam’—unlimited, inexhaustible happiness.
Material pleasures are like flickering matches; they provide a moment of light and then go out, leaving you in the dark. Spiritual happiness is like the sun; it shines steadily from within. It doesn’t depend on having the right food, the right company, or the right weather. It is a state of being, not a result of having.
Kṛṣṇa is telling Arjuna that the ‘happiness’ he is trying to save by avoiding the war is actually a very low and fragile kind of joy. He is offering him a path to a happiness that can never be taken away by an army or by death. The self-realized soul carries their own ‘heaven’ inside their heart.