B.G 5.23

शक्नोतीहैव यः सोढुं प्राक् शरीरविमोक्षणात्। कामक्रोधोद्भवं वेगं स युक्तः स सुखी नरः ॥२३॥

śaknotīhaiva yaḥ soḍhuṁ prāk śarīravimokṣaṇāt। kāmakrodhodbhavaṁ vegaṁ sa yuktaḥ sa sukhī naraḥ ॥23॥

[शक्नोति इह एव यः सोढुं प्राक् शरीर विमोक्षणात्। काम क्रोध उद्भवं वेगं स युक्तः स सुखी नरः॥
śaknoti = is capable; iha = here, in this world; eva = only; yaḥ = who; soḍhuṁ = to withstand; prāk = before; śarīra = body; vimokṣaṇāt = liberation of;। kāma = desire; krodha = anger; udbhavaṁ = arising; vegaṁ = impetus; sa = that person; yuktaḥ = properly engaged; sa = that person; sukhī = is happy; naraḥ = human;॥]

He who is capable of withstanding the impetus arising from desire and anger, here, in this world, alone is properly engaged and is a happy human.

Gīta Bhāshya 5.23

The renunciation is praised again. It is very difficult to withstand desire and anger in the human body, but must be practiced.

तत्परित्यागं प्रशंसयति - 'शक्नोति' इति।

tatparityāgaṁ praśaṁsayati - 'śaknoti' iti।

[तत् (tat): That; परित्यागं (parityāgaṁ): Renunciation; प्रशंसयति (praśaṁsayati): Praises or extols; शक्नोति (śaknoti): Is able; इति (iti): Thus or in this way;]

That renunciation is praised again by 'śaknoti' verse.

कामक्रोधोद्भवं वेगं सोढुं शक्नोति, शरीरविमोक्षणात् प्राक्, यथा मनुष्यदेहे सोढुं सुशकः तथा नाऽन्यत्र इति भावः। ब्रह्मलोकादिस्तु जितकामानामेव भवति ॥२३॥

kāmakrodhodbhavaṁ vegaṁ soḍhuṁ śaknoti, śarīravimokṣaṇāt prāk, yathā manuṣyadehe soḍhuṁ suśakaḥ tathā nā'nyatra iti bhāvaḥ। brahmalokādistu jitakāmānāmeva bhavati ॥23॥

[कामक्रोधोद्भवं (kāmakrodhodbhavaṁ): Arising from desire and anger; वेगं (vegaṁ): Force or impetus; सोढुं (soḍhuṁ): To endure or withstand; शक्नोति (śaknoti): Is able or capable; शरीरविमोक्षणात् (śarīravimokṣaṇāt): Liberation from the body; प्राक् (prāk): Before or earlier; यथा (yathā): Just as or like; मनुष्यदेहे (manuṣyadehe): In the human body; सोढुं (soḍhuṁ): To endure or withstand; सुशकः (suśakaḥ): Very difficult; तथा (tathā): Similarly; न (na): Not; अन्यत्र (anyatra): Elsewhere; इति (iti): Thus or in this way; भावः (bhāvaḥ): Idea or concept; ब्रह्मलोकादिस्तु (brahmalokādistu): But in the realm of Brahman and others; जितकामानामेव (jitakāmānāmeva): Only of those who have conquered desires; भवति (bhavati): Exists or happens;]

'Is capable of withstanding the impetus arising from desire and anger, before being free from physical body' - the expression indicates it is very difficult to withstand desire and anger in the human body, but must be practiced here only, and not elsewhere. The realm of Brahma and other worlds are possible for only those who have already conquered desire.