Bhagavad Gita 6.28

युञ्जन्नेवं सदात्मानं योगी विगतक्लमष: |
सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्नुते

Translation

The self-controlled yogi, thus uniting the self with God, becomes free from material contamination, and being in constant touch with the Supreme, achieves the highest state of perfect happiness.