Verse 6.28

युञ्जन्नेवं सदाऽऽत्मानं योगी विगतकल्मषः। सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्नुते।।6.28।।

yuñjann evaṁ sadātmānaṁ yogī vigata-kalmaṣhaḥ sukhena brahma-sansparśham atyantaṁ sukham aśhnute

Meaning

The yogi, always keeping their mind on yoga, is, like, totally free of sin and, like, easily vibes with the infinite bliss of Brahman. No cap.

Commentary

Yo, so like, through yoga stuff, like, withdrawing your senses, focusing hard, and meditating, you, like, totally disconnect from all the senses and connect with Brahman, the immortal self within. It's, like, infinite bliss. Sensory pleasures are, like, totally fleeting, but Brahman bliss? That's, like, forever. No cap. That's why you gotta, like, find your inner self. The yogi, like, removes all the obstacles to uniting with the Lord, keeping their mind steady on the self.