Verse 6.28

Sanskrit text, Unicode transliteration, Word-for-word and English translation of verse 6.28:

युञ्जन्न् एवं सदात्मानं योगी विगत-कल्मषः ।
सुखेन ब्रह्म-संस्पर्शम् अत्यन्तं सुखम् अश्नुते ॥ २८ ॥

yuñjann evaṃ sadātmānaṃ yogī vigata-kalmaṣaḥ |
sukhena brahma-saṃsparśam atyantaṃ sukham aśnute || 28 ||

yuñjan–continuously engaging in yoga with realization; evam–thus; sadā–always; ātmānam–the mind; yogī–the transcendentalist; vigata-kalmaṣaḥ–being freed from sins; sukhena–easily; brahma-saṃsparśam–in the form of full realization of brahma; atyantam–supreme; sukham–bliss; aśnute–attains.

In this way, by continuous practice, a sinless yogī gradually makes the self steady in yoga and easily attains supreme bliss in the form of brahma realization, becoming liberated from material existence even while in the present body.

Commentary: Sārārtha-Varṣiṇī Ṭīkā

(By Śrīla Viśvanātha Cakravartī Ṭhākura; the innermost intention of the commentary named ‘the shower of essential meanings’)

At that time, such yogīs become perfect. The words sukham aśnute mean that they become liberated in this life (jīvan-mukta).