Shrimad Bhagavad Gita As It Is -Shri Shrimad A.C Bhaktivedanta Swami Prabhupada
Chapter 6: Verse-27
prasänta-manasam hy enam
The yogi whose mind is fixed on Me verily attains the highest perfection of transcendental happiness. He is beyond the mode of passion, he realizes his qualitative identity with the Supreme, and thus he is freed from all reactions to past deeds.
Brahma-bhüta is the state of being free from material contamination and situated in the transcendental service of the Lord. Mad-bhaktim labhate paräm  One cannot remain in the quality of Brahman, the Absolute, until one’s mind is fixed on the lotus feet of the Lord. Sa vai manahkrsna-pädäravindayoh. To be always engaged in the transcendental loving service of the Lord, or to remain in krsna consciousness, is to be factually liberated from the mode of passion and all material contamination.
Chapter 6: Verse-28
yunjann evam sadätmänam
Thus the self-controlled yogi, constantly engaged in yoga practice, becomes free from all material contamination and achieves the highest stage of perfect happiness in transcendental loving service to the Lord.
Self-realization means knowing one’s constitutional position in relationship to the Supreme. The individual soul is part and parcel of the Supreme, and his position is to render transcendental service to the Lord. This transcendental contact with the Supreme is called brahma-samsparsa.
- prasänta=peaceful, fixed on the lotus feet of Krsna; manasam=whose mind; hi=certainly; enam=this; yoginam=yogi; sukham=happiness; uttamam=the highest; upaiti=attains; sänta-rajasam=his passion pacified; brahma-bhütam=liberation by identification with the Absolute; akalmasam=freed from all past sinful reactions.
- Bg. 18.54
- yunjan=engaging in yoga practice; evam=thus; sadä=always; ätmänam=the self; yogi=one who is in touch with the Supreme Self; vigata=freed from; kalmasah=all material contamination; sukhena=in transcendental happiness; brahma-samsparsam=being in constant touch with the Supreme; atyantam=the highest; sukham=happiness; asnute=attains.