Shloka 21
अक्षरब्रह्मयोग (Akṣara-Brahma-Yoga) — Knowledge of the Imperishable, Prakṛti, and Devotion
बाहास्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत् सुखम् । स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्लुते
bāhyasparśeṣv asaktātmā vindaty ātmani yat sukham | sa brahmayogayuktātmā sukham akṣayam aśnute ||
アルジュナは言った。外の接触や感官の対象に心を執着させぬ者は、自己（アートマン）のうちに、内なる安住から生ずる歓喜を見いだす。梵（ブラフマン）のヨーガに確立し、至上者に没入するその人は、朽ちぬ至福を味わう。
अर्जुन उवाच
Educational Q&A
Happiness grounded in the Self arises when one is not driven by sense-contact; through disciplined absorption in Brahman, one experiences a joy that does not depend on changing external conditions and is therefore described as imperishable.
In the midst of the Kurukshetra setting, Arjuna voices a teaching about inner discipline: he contrasts outward, object-based pleasure with inward, contemplative happiness, pointing to Brahman-realization as the stable culmination of yoga.