योऽन्तःसुखोऽन्तरारामस्तथान्तर्ज्योतिरेव यः।स योगी ब्रह्मनिर्वाणं ब्रह्मभूतोऽधिगच्छति ॥

Teachers usually read this idea across several verses together, one shared reflection covers the whole unit.

• 5.13Mentally renouncing all actions and being self-controlled, the embodied one happily rests in the nine-gated city, neither acting nor causing others (body and senses) to act.
• 5.14Neither does the Lord create agency nor actions for the world, nor union with the fruits of actions; rather, it is Nature that acts.
• 5.15The Lord takes neither the demerit nor the merit of any; knowledge is enveloped by ignorance, and beings are deluded.
• 5.16But to those whose ignorance is destroyed by knowledge of the Self, like the sun, knowledge reveals the Supreme Brahman.
• 5.17Their intellect absorbed in That, their self being That, established in That, with That as their supreme goal, they go whence there is no return, their sins dispelled by knowledge.
• 5.18Sages look with an equal eye on a Brahmana endowed with learning and humility, on a cow, an elephant, a dog, and even an outcaste.
• 5.19Even here in this world, those whose minds rest in reality overcome birth; Brahman is indeed spotless and real; therefore they are established in Brahman.
• 5.20Resting in Brahman, with a steady intellect and undeluded, the knower of Brahman neither rejoices upon obtaining what is pleasant nor grieves upon obtaining what is unpleasant.
• 5.21With the self unattached to external contacts, he finds happiness in the Self; with the self engaged in the meditation of Brahman, he attains endless happiness.
• 5.22The enjoyments that arise from contact are only sources of pain, for they have a beginning and an end, O Arjuna; the wise do not rejoice in them.
• 5.23He who is able, while still here in this world, to withstand the impulse born out of desire and anger before the liberation from the body, he is a Yogi, and he is a happy man.

• 5.24He who is happy within, who rejoices within, and who is illuminated within, that Yogi attains absolute freedom, or Moksha, becoming Brahman himself.

• 5.25The sages obtain absolute freedom or Moksha when their sins have been destroyed, their dualities have been torn asunder, they are self-controlled, and they are intent on the welfare of all beings.
• 5.26Absolute freedom exists on all sides for those self-controlled ascetics who are free from desire and anger, who have controlled their thoughts, and who have realized the Self.
• 5.27Shutting out all external contacts and fixing the gaze between the eyebrows, realizing the outgoing and incoming breaths moving within the nostrils.
• 5.28With the senses, mind, and intellect ever controlled, having liberation as their supreme goal, free from desire, fear, and anger, the sage is truly liberated forever.
• 5.29He who knows Me as the enjoyer of sacrifices and austerities, the great Lord of all the worlds, and the friend of all beings, attains peace.

yaḥ

who

antaḥ-sukhaḥ

happy within the self

antaḥ-ārāmaḥ

enjoying within the self

antaḥ-jyotiḥ

illumined by the inner light

eva

certainly

yogī

yogi

brahma-nirvāṇam

liberation from material existence

brahmabhūtaḥ

united with the Lord

adhigachchhati

attains