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

One whose self is unattached to outer contacts finds the happiness that is in the self. Joined by yoga to Brahman, he enjoys imperishable happiness.

Krishna speaks of a different kind of happiness. Ordinary pleasure comes from bāhyasparśa, contact with outer objects. One who is not attached to these finds a happiness within the self (ātman). Joined to Brahman through yoga, such a person enjoys akṣaya sukha, happiness that does not decay. The verse does not reject joy; it points to a deeper source of it. This prepares the next verse, which explains why pleasures born of contact cannot satisfy in the way the inner joy can.