bhoktāraṁ yajña-tapasāṁ sarva-loka-maheśhvaram
suhṛidaṁ sarva-bhūtānāṁ jñātvā māṁ śhāntim ṛichchhati||29||

Meaning : One who realizes Me (Krishna) as:the ultimate enjoyer of all sacrifices and austerities (bhoktāraṁ yajña-tapasām),the Supreme Lord of all worlds (sarva-loka-maheśvaram),and the true well-wisher and friend of all living beings (suhṛidaṁ sarva-bhūtānām), such a person attains perfect peace

yatendriya-mano-buddhir munir mokṣha-parāyaṇaḥ
vigatechchhā-bhaya-krodho yaḥ sadā mukta eva saḥ||28||

Meaning : A sage (muni) whose senses, mind, and intellect are under control (yatendriya-mano-buddhiḥ), who is fully devoted to liberation (mokṣha-parāyaṇaḥ),who is free from desire, fear, and anger (vigata-ichchhā-bhaya-krodhaḥ) such a person is always liberated, even while living in this world (sadā mukta eva saḥ).

sparśhān kṛitvā bahir bāhyānśh chakṣhuśh chaivāntare bhruvoḥ
prāṇāpānau samau kṛitvā nāsābhyantara-chāriṇau||27||

Meaning : Withdrawing all sense contacts from external objects (sparśān bahir kṛtvā bāhyān), and fixing the gaze between the eyebrows (cakṣuḥ ca eva antare bhruvoḥ),regulating the incoming and outgoing breaths (prāṇa and apāna), to move evenly within the nostrils such a yogi practices deep inward concentration and breath control.

kāma-krodha-viyuktānāṁ yatīnāṁ yata-chetasām
abhito brahma-nirvāṇaṁ vartate viditātmanām||26||

Meaning : For those ascetics (yogis) who are free from desire and anger (kāma-krodha-viyuktānām), who have full control over their minds (yata-cetasām), and who have realized the Self (vidita-ātmanām),
liberation in Brahman (brahma-nirvāṇa) is very near — it surrounds them from all sides (abhitaḥ vartate).

labhante brahma-nirvāṇam ṛiṣhayaḥ kṣhīṇa-kalmaṣhāḥ
chhinna-dvaidhā yatātmānaḥ sarva-bhūta-hite ratāḥ||25||

Meaning : The sages (ṛṣayaḥ), whose impurities and faults are completely destroyed, who have controlled and cut off all dualities within themselves, and who are devoted to the welfare of all beings,
attain liberation in Brahman (brahma-nirvāṇam).

yo ''ntaḥ-sukho ''ntar-ārāmas tathāntar-jyotir eva yaḥ
sa yogī brahma-nirvāṇaṁ brahma-bhūto ''dhigachchhati||24||

Meaning : A yogi who finds true happiness within and dwells peacefully in their own inner self, whose inner light shines clearly without disturbance, attains liberation in Brahman—the ultimate spiritual freedom. Such a person becomes firmly established in the Supreme Reality.

śhaknotīhaiva yaḥ soḍhuṁ prāk śharīra-vimokṣhaṇāt
kāma-krodhodbhavaṁ vegaṁ sa yuktaḥ sa sukhī naraḥ||23||

Meaning : One who is capable here and now, while still living in the body, to control the strong urges born of desire and anger (kāma-krodhodbhavam vegam), is considered truly disciplined (yuktaḥ) and is a happy (sukhī) person.

ye hi sansparśha-jā bhogā duḥkha-yonaya eva te
ādyantavantaḥ kaunteya na teṣhu ramate budhaḥ||22||

Meaning : O son of Kunti (Arjuna), the pleasures born of contact with the senses
are the sources of pain and suffering (duḥkha-yonayaḥ eva). They have a beginning and an end (ādyantavantah) they are temporary. A wise person (buddhaḥ) does not delight or find joy in such fleeting pleasures.

bāhya-sparśheṣhvasaktātmā vindatyātmani yat sukham
sa brahma-yoga-yuktātmā sukham akṣhayam aśhnute||21||

Meaning : A person whose mind is attached to external sense objects experiences temporary pleasure (yat sukham vinadati ātmni). But one who is united with Brahman through yoga (brahma-yoga-yuktātmā),attains an imperishable, steady, and true happiness (sukham akṣayam).

na prahṛiṣhyet priyaṁ prāpya nodvijet prāpya chāpriyam
sthira-buddhir asammūḍho brahma-vid brahmaṇi sthitaḥ||20||

Meaning : The knower of Brahman, firmly established in Brahman, does not rejoice upon obtaining what is dear, nor feel disturbed upon obtaining what is not dear. Such a person has a steady intellect (sthira-buddhi) and is free from delusion (asammūḍha). They remain firmly situated in the Supreme Reality (Brahman).