Verse 5.24
योऽन्तःसुखोऽन्तरारामस्तथान्तर्ज्योतिरेव यः। स योगी ब्रह्मनिर्वाणं ब्रह्मभूतोऽधिगच्छति।।5.24।।
yo 'ntaḥ-sukho 'ntar-ārāmas tathāntar-jyotir eva yaḥ sa yogī brahma-nirvāṇaṁ brahma-bhūto 'dhigachchhati
Meaning
Yo, the person who's totally happy and lit from within, that's the Yogi who achieves ultimate freedom, becoming one with Brahman.
Commentary
Inner peace is the key, fam. It's all about that self-love and enlightenment. When you're vibing with your inner self, you achieve total liberation and become one with the divine – even while still kickin' it in the physical realm. You become a total boss, a Jivanmukta.