Quick answer
Bhagavad Gita Chapter 6, Verse 28 (6.28) means: Steadying the self this way, always, the seeker, freed of wrong, easily knows the boundless joy of touching the eternal.
युञ्जन्नेवं सदाऽऽत्मानं योगी विगतकल्मषः। सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्नुते।।6.28।।
yuñjann evaṁ sadātmānaṁ yogī vigata-kalmaṣhaḥ sukhena brahma-sansparśham atyantaṁ sukham aśhnute
Steadying the self this way, always, the seeker, freed of wrong, easily knows the boundless joy of touching the eternal.
इस तरह सदा आत्मा को स्थिर करते हुए, साधक, दोष से मुक्त होकर, शाश्वत के स्पर्श के असीम आनंद को आसानी से जान लेता है।
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It is verse 28 of Chapter 6 of the Bhagavad Gita, which has 47 verses in total.
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