Bg 6.28

yunjann evam sadatmanam
yogi vigata-kalmasah
sukhena brahma-samsparsam
atyantam sukham asnute

Word for word: 
yunjan — engaging in yoga practice; evam — thus; sada — always; atmanam — the self; yogi — one who is in touch with the Supreme Self; vigata — freed from; kalmasah — all material contamination; sukhena — in transcendental happiness; brahma-samsparsam — being in constant touch with the Supreme; atyantam — the highest; sukham — happiness; asnute — attains.

Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
Thus the self-controlled yogi, constantly engaged in yoga practice, becomes free from all material contamination and achieves the highest stage of perfect happiness in transcendental loving service to the Lord.

Purport by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
Self-realization means knowing one’s constitutional position in relationship to the Supreme. The individual soul is part and parcel of the Supreme, and his position is to render transcendental service to the Lord. This transcendental contact with the Supreme is called brahma-samsparsa.