5.21 बाह्यस्पर्शेषु in external contacts, असक्तात्मा one whose mind is unattached, विन्दति finds, आत्मनि in,the Self, यत् (that) which, सुखम् happiness, सः he, ब्रह्मयोगयुक्तात्मा with the self engaged in the meditation of Brahman, सुखम् happiness, अक्षयम् endless, अश्नुते enjoys.Commentary: When the mind is not attached to external objects of the senses, when one is deeply engaged in the contemplation of Brahman, he finds undecaying bliss in the Self within. If you want to enjoy the imperishable happiness of the Self within, you will have to withdraw the senses from their respective objects and plunge yourself in deep meditation on the Self within. This is the gist of this verse.