With his self, his inner instrument, unattached to outward contacts, the contacts being the objects, sound and the rest, that are touched, being free of fondness for objects, he finds the happiness that is in the Self. With his self joined with the yoga of Brahman, absorption in Brahman, intent on it, he gains imperishable happiness, he pervades it. Therefore one who seeks the imperishable happiness in the Self should turn the senses away from the momentary fondness for outward objects. And here is a further reason to turn them away.

With a mind, in the manner described, unattached to outer contacts, to the experiences of objects other than the self, the man who finds happiness in the inner self alone, who gains it, having given up the practice of matter, his self joined with the discipline of Brahman, his mind joined with the practice of Brahman, attains the imperishable happiness that has the form of the experience of Brahman. The Lord states that the enjoyment which belongs to matter is easy to give up.

Krishna again makes plain the eminence of yoga, with 'in the outer contacts'. The happiness one finds in the self, free of desire, becomes imperishable happiness only if one's self is joined with the yoga of Brahman. The 'yoga of Brahman' is the yoga whose object is Brahman; the happiness of the self is imperishable only for one joined with meditation and the rest, and not otherwise; that is the sense.