Bhagavad Gita 6.28

युञ्जन्नेवं सदाऽऽत्मानं योगी विगतकल्मषः।
सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्नुते।।6.28।।

Yunjannevam sadatmanam yogi vigatakalmashah
Sukhena brahmasansparshamatyantam sukhamashnute

Simple meaning, written by AIA yogi who always keeps the self in union in this way, free from sin, easily attains the infinite happiness of contact with Brahman.