Bhagavad Gita Chapter 6, Verse 27

प्रशान्तमनसं ह्येनं योगिनं सुखमुत्तमम् | उपैति शान्तरजसं ब्रह्मभूतमकल्मषम् ||

praśānta-manasaṁ hy enaṁ yoginaṁ sukham uttamam upaiti śānta-rajasaṁ brahma-bhūtam akalmaṣam

The yogi whose mind is completely tranquil, whose passions are subdued, and who is free from sin, attains the highest bliss of union with Brahman.

Krishna describes the state and result of proper practice. 'Praśānta-manasaṁ hy enaṁ yoginaṁ'—this (enam) yogi (yoginam) whose mind (manasam) is completely tranquil (praśānta). This means: through the practice described in previous verses—gradually fixing mind in Self, restraining wandering, bringing it back—the mind becomes completely tranquil. 'Sukham uttamam upaiti'—attains (upaiti) the highest (uttamam) happiness (sukham). This means: the supreme bliss, the ultimate joy—not ordinary pleasure, but the highest happiness. 'Śānta-rajasaṁ'—whose passions (rajasam) are subdued (śānta). This means: the active, restless qualities (rajas) are calmed, subdued, quieted. 'Brahma-bhūtam akalmaṣam'—one who has become (bhūtam) Brahman (brahma), free from sin (akalmaṣam). This means: the yogi has become one with the Supreme, pure, free from impurities. This is the result: tranquil mind, subdued passions, free from sin, union with Brahman, highest bliss.