yunjannevam sadaatmaanam yogee vigatakalmashaha |
sukhena brahmasamsparshamatyantam sukhamashrute || 28 ||

In this manner, the sinless yogi, always engaged in the self, joyfully contacts the eternal essence, experiencing infinite bliss.
yunjan : engaged
evam : in this manner
sadaa : always
aatmaanam : in the self
yogi : yogi
vigatakalmashaha : sinless
sukhena : joyfully
brahma : eternal essence
samsparsham : contacts
atyantam : infinite
sukham : bliss
ashrute : experiences
With this shloka, Shri Krishna concludes the topic of the meditation process. He says that one who follows the step by step approach towards meditation obtains infinite joy and happiness because he comes into contact with the eternal essence.
The word ”evam” here refers to the step-by-step approach to meditation that has been prescribed here. Shri Krishna says that only by following this approach can the eternal essence be realized. There are several methods to meditation, but it is important to follow a disciplined approach in order to obtain the result mentioned in this shloka. It is like the purification of gold. Only a certain process will ensure that the mined gold will shine.
Next, Shri Krishna highlights that the yogi needs to have continually kept focus on the method of meditation with the word “vigata kalmashah” which means without any defects or sins. Meditation cannot yield results if the mind still harbours impurities in the form of vaasanaas and desires. A purified mind is a prerequisite to meditation.
Finally, what does is the end result of meditation? It is ultimate happiness or sukha, obtained by contact with brahman, the eternal essence. The literal translation is : “the yogi touches brahman”. Brahman is of the nature of infinite joy and bliss. Anyone who identifies with it also gains such infinite joy – “atyanta sukham”.
With this shloka, the explanation of the process of meditation is concluded. We can go much deeper into the process of meditation, discuss further obstacles and so on. Other texts cover those obstacles in greater detail. Next, Shri Krishna illustrates the change in the vision of the meditator, which is the final topic in this chapter on meditation.