Karma Sanyaasa Yoga
21 – 22 - 23. The self when it is no longer attached to the external objects, revels in the happiness which abides in the Supreme Self, being in communion with Supreme Self, enjoys undying bliss. The pleasures born of contacts with senses are the source of pain, having beginning and an end, O son of Kunti, no wise one would revel in them. He who is able to resist here itself, before he gives up his body, the onrush of desires and anger; he is the integrated, the happy person.
Bhashya :- Here in this verse, Sri Krishna again clarifies yoga, equanimity in performance of actions. Without any desires he who enjoys happiness in the self, he alone is in communion with Brahman and he alone becomes the enjoyer of eternal happiness. The communion with Brahman is yoking oneself with Brahman, the performance of which leads to Brahman. Enjoined through the means of meditation etc. is this eternal happiness of self. Not through any other means.
Sri Krishna again praises संन्यास renunciation saying he who resists desires and anger is the true संन्यासी. If human beings in their life are unable to control their mind and senses and neutarlise the effects of kama and krodha then there is chance for them to ever achieve even Brahmaloka which is the topmost material planet and where everything is in sattva guna or the mode of pure goodness. The mastery of one's mind and senses is a prerequisite for higher existence.
Tatparya Nirnaya :- In this manner even with little remembrance of the Lord happiness is attained. Then what to speak of, if one does so in an concentrated manner? The marks of the man of wisdom are explained in the subsequent verses.