Chapter 6: Sāṅkhya-yoga
yunjann evam sadatmanam
atyantam sukham asnute
yuñjan—thus being engaged in yoga practice; evam—thus; sadā—always; ātmānam—self; yogī—one who is in touch with the Supreme Self; vigata—is freed from; kalmaṣaḥ—all material contamination; sukhena—in transcendental happiness; brahma-saṁsparśam—being in constant touch with the Supreme; atyantam—highest; sukham—happiness; aśnute—attains.
Steady in the Self, being freed from all material contamination, the yogī achieves the highest perfectional stage of happiness in touch with the Supreme Consciousness.
Self-realization means knowing one's constitutional position in relationship to the Supreme. The individual soul is part and parcel of the Supreme, and his position is to render transcendental service to the Lord. This transcendental contact with the Supreme is called brahma-saṁsparśa.