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.