Bhagavad Gita, Chapter 5, Verse 24

योऽन्तःसुखोऽन्तरारामस्तथान्तर्ज्योतिरेव यः । स योगी ब्रह्मनिर्वाणं ब्रह्मभूतोऽधिगच्छति

yo'ntaḥsukho'ntarārāmastathāntarjyotireva yaḥ | sa yogī brahmanirvāṇaṃ brahmabhūto'dhigacchati

Translation

Whoso has his joy within and his pastime within, and whoso has his light within only, that Yogin attains Brahman's bliss, himself becoming Brahman.

— Alladi Mahadeva Sastri

Word meanings

yaḥ
who
antaḥsukhaḥ
inward (in the self), pleasure, whose, he
antarārāmaḥ
inward (in the self), enjoyment, whose, he
tathā
so (too)
antarjyotiḥ
inward, light, whose, he
eva
even
yaḥ
who
saḥ
that
yogī
yogi
brahmanirvāṇam
of Brahman, to the nirvāṇa
brahmabhūtam
Brahman-become
adhigacchati
goes over

Śaṅkarācārya's commentary

"Within": in the Self. He attains the bliss (nirvāṇa) in Brahman — i.e., he attains mokṣa — while still living here on earth.