B.G 6.27

प्रशान्तमनसं ह्येनं योगिनं सुखमुत्तमम्। उपैति शान्तरजसं ब्रह्मभूतमकल्मषम् ॥२७॥

praśāntamanasaṁ hyenaṁ yoginaṁ sukhamuttamam। upaiti śāntarajasaṁ brahmabhūtamakalmaṣam ॥27॥

[प्रशान्त मनसं हि एनं योगिनं सुखम् उत्तमम्। उपैति शान्तरजसं ब्रह्मभूतम् अकल्मषम्॥
प्रशान्त (praśānta) - peaceful; मनसं (manasaṃ) - mind; हि (hi) - indeed; एनं (enaṃ) - this; योगिनं (yoginaṃ) - yogi; सुखम् (sukham) - happiness; उत्तमम् (uttamam) - highest; उपैति (upaiti) - attains; शान्त (śānta) - pacified; रजसं (rajasam) - passions; ब्रह्मभूतम् (brahmabhūtam) - having situated in Brahma; अकल्मषम् (akalmaṣam) - stainless;]

Such a Yogi with a peaceful mind, having no defects, and passions pacified, indeed, attains the highest happiness, having situated himself in Brahman, the ultimate reality.