ihaiva tair jitah sargo yesham samye sthitam manah। nirdosam hi samam brahma tasmad brahmani te sthitah॥ 5.19 ॥

Those whose minds are established in sameness and equanimity have already conquered the conditions of birth and death. They are flawless like Brahman, and thus they are already situated in Brahman.

na prahrsyet priyam prapya nodvijet prapya chapriyam। sthira-buddhir asammudho brahma-vid brahmani sthitah॥ 5.20 ॥

A human being who neither rejoices upon achieving something pleasant nor laments upon obtaining something unpleasant, who is self-intelligent, who is not bewildered, and who knows the science of God, is already situated in transcendence.

bahya-sparsesv asaktatma vindaty atmani yat sukham। sa brahma-yoga-yuktatma sukham akshayam asnute॥ 5.21 ॥

Such a liberated human being is not attracted to material sense pleasure but is always in trance, enjoying the pleasure within. In this way the self-realized human being enjoys unlimited happiness, for he concentrates on the God.

ye hi samsparsha-ja bhoga duhkha-yonaya eva te। ady-antavantah kaunteya na tesu ramate budhah॥ 5.22 ॥

An intelligent human being does not take part in the sources of misery, which are due to contact with the material senses. O Arjuna, such pleasures have a beginning and an end, and so the wise man does not delight in them.

yah sodhum prak sarira-vimokshanat। kama-krodhodbhavam vegam sa yuktah sa sukhi narah॥ 5.23 ॥

Before giving up this present body, if one is able to tolerate the urges of the material senses and check the force of desire and anger, he is well situated and is happy in this world.

yo ’ntah-sukho ’ntar-aramas tathantar-jyotir eva yah। sa yogi brahma-nirvanam brahma-bhuto ’dhigacchati॥ 5.24 ॥

One whose happiness is within, who is active and rejoices within, and whose aim is inward is actually the perfect mystic. He is liberated in the God, and ultimately he attains the God.