कामक्रोधवियुक्तानां यतीनां यतचेतसाम् | अभितो ब्रह्मनिर्वाणं वर्तते विदितात्मनाम् ||५-२६||
kāmakrodhaviyuktānāṃ yatīnāṃ yatacetasām . abhito brahmanirvāṇaṃ vartate viditātmanām ||5-26||
5.26. Warding off the external contacts outside; making the sense of sight in the middle of the two wandering ones; counter-balancing both the forward and backward moving forces that travel within what acts crookedly;
Shri Purohit Swami
5.26 Saints who know their Selves, who control their minds, and feel neither desire nor anger, find Eternal Bliss everywhere.
Sri Abhinav Gupta
5.26 Kama - etc. For them at all times i.e., at all stages, there is Brahman-Existence, the ultimately true one, and it does not look for the time of control [of the mind (mediation)]
5.26 To those who are free from desire and wrath; ‘who are wont to exert themselves’ i.e., who are practising self-control; whose ’thought is controlled,’ i.e., whose minds are subdued; ‘who have conered them,’ i.e., whose minds are under their control - to such persons the beatitude of the Brahman is close at hand. The beatitude of the Brahman is already in hand to persons of this type.
Sri Krsna concludes the examination of Karma Yoga already stated, as reaching the highest point in the practice of mental concentration (Yoga) having for its object the vision of the self:
5.26 Yatinam, to the monks; yata-cetasam, who have control over their internal organ; kama-krodha-viyuktanam, who are free from desire and anger; vidita-atmanam, who have known the Self, i.e. who have full realization; vartate, there is; brahma-nir-vanam, absorption in Brahman, Liberation; abhitah, either way, whether living or dead. Immediate Liberation of the monks who are steadfast in full realization has been stated. And the Lord has said, and will say, at every stage that Karma-yoga, undertaken as a dedication to Brahman, to God, by surrendering all activities [The activities of body, mind and organs] to God, leads to Liberation through the stages of purification of the heart, attainment of Knowledge, and renunciation of all actions. Thereafter, now, with the idea, ‘I shall speak elaborately of the yoga of meditation which is the proximate discipline for full realization,’ the Lord gave instruction through some verses in the form of aphorisms:
5.26 To those who are free from desire and wrath, who are wont to exert themselves, whose thought is controlled, and who have conered it - the beatitude of the Brahman is close at hand.
5.26 To the monks who have control over their internal organ, who are free from desire and anger, who have known the Self, there is absorption in Brahman either way.
5.26 Absolute freedom (or Brahmic bliss) exists on all sides for those self-controlled ascetics who are free from desire and anger, who have controlled their thoughts and who have realised the Self.
5.26 कामक्रोधवियुक्तानाम् of those who are free from desire and anger? यतीनाम् of the selfcontrolled ascetics? यतचेतसाम् of those who have controlled their thoughts? अभितः on all sides? ब्रह्मनिर्वाणम् absolute freedom? वर्तते exists? विदितात्मनाम् of those who have realised the Self.Commentary Those who renounce all actions and practise Sravana (hearing of the scriptures)? Manana (reflection) and Nididhyasana (meditation)? who are established in Brahman or who are steadily devoted to the knowledge of the Self attain liberation or Moksha instantaneously (Kaivalya Moksha). Karma Yoga leads to Moksha step by step (Krama Mukti). First comes purification of the mind? then knowledge? then renunciation of all actions and eventually Moksha.