yuñjann evaḿ sadātmānaḿ
yogī vigata-kalmaṣaḥ
sukhena brahma-saḿsparśam
atyantaḿ sukham aśnute

Translation of Bhagavad Gita 6.28

Thus the self-controlled yogi, constantly engaged in yoga practice, becomes free from all material contamination and achieves the highest stage of perfect happiness in transcendental loving service to the Lord.

Commentary by Sri A.C. Bhaktivedanta Swami Prabhupada of Gaudiya Sampradaya:

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-samsparsha.

Commentary by Sri Vishvanatha Chakravarthi Thakur of Gaudiya Sampradaya:

Then, he attains success. Attaining bliss means he becomes jivan mukta.

Commentary by Sri Ramanuja of Sri Sampradaya:

6.28 Thus, in the above — said manner, devoting himself to the Yoga of the self and by that means expelling all old impurities, the Yogin attains ‘perfect’, i.e., boundless felicity at all times easily, without stress and strain. The felicity is born of the contact with the Brahman (Atman), meaning the joy of experience of the Brahman. Now Sri Krsna says that the mature stage of Yoga consists of four degrees, as stated in the succeeding verses from 29th to 32nd.

Commentary by Sri Sridhara Swami of Rudra Sampradaya:

Then by possessing such blessed felicity such a yogi becomes blessed and achieves easily communion with the ultimate consciousness which destroys all sins and ignorance and which in itself is infinite bliss and attains moksa or liberation from the perpetual cycle of birth and death is while still living.

Commentary by Sri Madhvacharya of Brahma Sampradaya:

Topics discussed in previous verses are more fully explained here by Lord Krishna.

Commentary by Sri Keshava Kashmiri of Kumara Sampradaya:

Lord Krishna speaks of the boundless happiness experienced by such a yogi or one perfected in the science of the individual consciousness attaining communion with the ultimate consciousness. The sinless yogi whose accumulative reactions have all evaporated by continuous meditation on the atma or soul within the etheric heart and easily achieves moksa or liberation from the material existence and is blest with the eternal bliss of communion with paramatam the supreme soul.

Commentary by Sri Adi Shankaracharya of Advaita Sampradaya:

6.28 Sada yunjan, by constantly concentrating; atmanam, his mind; evam, thus, in the process stated; vigata-kalmasah, the taintles, sinless yogi, free from the obstacles to Yoga; sukhena, easily; asnute, attains; atayantam, absolute-that which exists by transcending limits-, supreme, unsurpassable; sukham, Bliss; of brahma-samsparsam, contact with Brahman-the Bliss that is in touch [In touch with, i.e. identified with, homogeneous with, in essential oneness with.] with the supreme Brahman. Now is being shown that result of Yoga which is the realization of identity with Brahman and which is the cause of the extinction of the whole mundane existence . [Liberation is conceived of in two ways-total cessation of sorrows, and attainment of unsurpassable Bliss.]

Commentary by Sri Abhinavagupta of Kaula Tantra Sampradaya:

6.26-28 Yatah etc. upto adhigacchati. From whatever objects the mind returns, immediately after its return, let him quieten it on the Self. Otherwise, being not firmly established [in the Self], the mind would again take hold of nothing but the sense-objects. But the Bliss, assuming the roll of an agent (or subject, kartv-bhuta) comes to the object (karmabhuta), viz., the man-of-Yoga, whose mind remains quite in the Self. By this way alone the men-of-Yoga attain the Brahman easily and not by [any] difficult Yoga etc. This is the idea [here].

Sanskrit Shloka Without Transliteration Marks:

yuñjann evam sadatmanam
yogi vigata-kalmasah
sukhena brahma-samsparsam
atyantam sukham asnute

Sanskrit to English Word for Word Meanings:

yuñjan — engaging in yoga practice; evam — thus; sadā — always; ātmānam — the self; yogī — one who is in touch with the Supreme Self; vigata — freed from; kalmaṣaḥ — all material contamination; sukhena — in transcendental happiness; brahma-saḿsparśam — being in constant touch with the Supreme; atyantam — the highest; sukham — happiness; aśnute — attains.