1. 21

    बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत्सुखम् । स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते ॥ ५-२१ ॥

    With the self unattached to external contacts he finds happiness in the Self; with the self engaged in the meditation of Bramh he attains to the eternal happiness.

  2. 22

    ये हि संस्पर्शजा भोगा दुःखयोनय एव ते । आद्यन्तवन्तः कौन्तेय न तेषु रमते बुधः ॥ ५-२२ ॥

    Since enjoyments that result from contact (with objects) are verily the sources of sorrow and have a beginning and an end, (therefore) O son of Kunti, the wise one does not delight in them.

  3. 23

    शक्नोतीहैव यः सोढुं प्राक्शरीरविमोक्षणात् । कामक्रोधोद्भवं वेगं स युक्तः स सुखी नरः ॥ ५-२३ ॥

    One who can withstand here itself - before departing from the body - the impulse arising from desire and anger, that man is a yogi; he is happy.

  4. 24

    योऽन्तःसुखोऽन्तरारामस्तथान्तर्ज्योतिरेव यः । स योगी ब्रह्मनिर्वाणं ब्रह्मभूतोऽधिगच्छति ॥ ५-२४ ॥

    He who is happy within, who rejoices within, and who is illuminated within, that Sankhya Yogi attains Bramhnirvana or Moksh(salvation), himself becoming Bramh.

  5. 25

    लभन्ते ब्रह्मनिर्वाणमृषयः क्षीणकल्मषाः । छिन्नद्वैधा यतात्मानः सर्वभूतहिते रताः ॥ ५-२५ ॥

    The sages (Rishis) whose sins have been destroyed, whose dualities (perception of dualities or experience of the pairs of opposites) are torn asunder, who are self-controlled, and intent on the welfare of all beings, attains Bramhnirvana or Moksh (salvation).