Thus continuously disciplining himself, the yogi, freed from sin (kalmaṣa), Easily enjoys the infinite happiness, of contact with Brahman.
Constantly disciplining himself, free from sin, the man of discipline easily achieves perfect joy in harmony with the infinite spirit.
(28) [And] thus [all] flaws transcending, the athlete of the spirit, constant in integrating [him]self, with case attains unbounded joy, Brahman's [saving] touch.
6.28 By concentrating his mind constantly thus, the taintless yogi easily attains the absolute Bliss of contact with Brahman.
6.28 Thus devoting himself to the Yoga of the self, freed from impurities, the Yogin easily attains the supreme bliss of contact with the Brahman.
6.28 The Yogi, always engaging the mind thus (in the practice of Yoga), freed from sins, easily enjoys the Infinite Bliss of contact with Brahman (the Eternal).