Kṛṣṇa describes the ultimate tactile experience of the soul. By constantly practicing this internal connection, the yogī becomes freed from all material contamination. They then happily enjoy the boundless bliss of ‘brahma-saṁsparśam’—the actual touch of the Supreme. Spirituality is not just a mental concept; it is an experience. Just as touching a flame gives a sensation of heat, touching the Divine through yoga gives a sensation of ‘Atyantam Sukham’, or extreme bliss. This is the goal of human life—to regain this lost contact with our spiritual source. Arjuna is being told that his current suffering is a result of his contact with matter. Kṛṣṇa is offering him a way to upgrade his experience to the contact with Spirit. This divine touch is so fulfilling that it makes all material problems seem like a distant, insignificant memory. It is the ultimate homecoming for the consciousness.