Yunjaan evam sadatmanam
Yogi vigata- kalash
Sukhena brahma – samparsam
Atyantam sukham asnute
Thus the self controlled yogi, constantly engaged in yoga practice, becomes free from all material contamination and achives the highest stage of perfect happiness in Transcendental loving service to the Lord.
Bhagavad Gita: Attain highest stage of perfect happiness (Dhyana-yoga (Text 28, Chapter 6)