Here is the Sanskrit anuvad, Hindi anuvad, and English translation of Daivasura-Sampad-Vibhaga Yoga Chapter 16, Verse 16.22.
Sanskrit
एतैर्विमुक्तः कौन्तेय तमोद्वारैस्त्रिभिर्नरः । आचरत्यात्मनः श्रेयस्ततो याति परां गतिम् ॥ १६.२२ ॥
Hindi
हे अर्जुन ! इन तीनों नरक के द्वार से मुक्त्त पुरुष अपने कल्याण का आचरण करता है, इससे वह परम गति को जाता है अर्थात् मुझको प्राप्त हो जाता है |
English
O son of Kunti, should a man free himself from these three doors, to hell, darkness and destruction, he discovers what is best for his inner spirit (or soul). He then ultimately reaches the highest goal by following the Supreme Path which leads to union with Me, the Supreme Spirit.