Verse 5.21

बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत्सुखम्। स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते।।5.21।।

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

Meaning

Yo, if you're chill with not being attached to external stuff, you'll find happiness within yourself. If you're all about that Brahman meditation, you'll achieve endless happiness.

Commentary

No cap, if you're not attached to that external stuff, you'll find happiness within yourself. And if you're all about that Brahman meditation life, you'll be vibing with endless happiness. It's like, to get that unbreakable happiness, you gotta detach from the senses and go deep into meditating on your inner self. That's the tea.