Bhagavad Gita 6.28 Chapter 6, Verse 28

युञ्जन्नेवं सदाऽऽत्मानं योगी विगतकल्मषः ।
सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्नुते ॥६.२८॥

yuñjannevaṃ sadā''tmānaṃ yogī vigatakalmaṣaḥ
sukhena brahmasaṃsparśamatyantaṃ sukhamaśnute

Meaning

Thus always uniting the self with the Supreme, the yogi, free from sin, easily enjoys the boundless bliss of contact with Brahman.

Newly written by Bhajan Dhun — scholarly review in progress.

Reference: Bhagavad Gita 6.28 (Chapter 6, The Yoga of Meditation (Atma Samyama Yoga), Verse 28)