For those ascetics, those renouncers, freed from desire and anger, of restrained mind, of subdued inner instrument, who know the Self, the extinction in Brahman, liberation, exists on both sides, while they live and when they die: those by whom the Self is known are knowers of the Self, the seers of the supreme truth. The immediate liberation of the renouncers steadfast in the right vision has been told. And the yoga of action, carried out with all one's being offered to the Lord, laid in the Lord, in Brahman, leads to liberation by the sequence of purification of being, gaining of knowledge, renunciation of all action and steadfastness in knowledge: this the Blessed Lord has said at every step and will say again. Now He teaches what stand as the seed-verses of the yoga of meditation, the inner limb of the right vision, which He will set out at length.

For the men of restraint, given to striving, free of desire and anger, of restrained mind, having mastered the self, having mastered the mind, Brahman-nirvana lies all around. For men of such a kind Brahman-nirvana is in the very hand. This is the meaning. The Lord concludes the discipline of action that has been told, which has, as its own aim, the discipline of meditation for its crown.

This is a brief sub-gloss. For a fuller reading of this verse, see Madhusūdana, Śaṅkara, or Rāmānuja above.

And Brahman is easily reached for them, Krishna says, with 'free of desire and anger'. 'On every side' (abhitas) means everywhere.