Bg 2.53

sruti-vipratipanna te
yada sthasyati niscala
samadhav acala buddhis
tada yogam avapsyasi

Word for word: 
sruti — of Vedic revelation; vipratipanna — without being influenced by the fruitive results; te — your; yada — when; sthasyati — remains; niscala — unmoved; samadhau — in transcendental consciousness, or Krishna consciousness; acala — unflinching; buddhih — intelligence; tada — at that time; yogam — self-realization; avapsyasi — you will achieve.

Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
When your mind is no longer disturbed by the flowery language of the Vedas, and when it remains fixed in the trance of self-realization, then you will have attained the divine consciousness.

Purport by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
To say that one is in samadhi is to say that one has fully realized Krishna consciousness; that is, one in full samadhi has realized Brahman, Paramatma and Bhagavan. The highest perfection of self-realization is to understand that one is eternally the servitor of Krishna and that one’s only business is to discharge one’s duties in Krishna consciousness. A Krishna conscious person, or unflinching devotee of the Lord, should not be disturbed by the flowery language of the Vedas nor be engaged in fruitive activities for promotion to the heavenly kingdom. In Krishna consciousness, one comes directly into communion with Krishna, and thus all directions from Krishna may be understood in that transcendental state. One is sure to achieve results by such activities and attain conclusive knowledge. One has only to carry out the orders of Krishna or His representative, the spiritual master.