Here is the Sanskrit anuvad, Hindi anuvad, and English translation of Atma-Samyama Yoga Chapter 5, Verse 5.21.
Sanskrit
बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत् सुखम् । स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते ॥ ५.२१ ॥
Hindi
बाहरके विषयों में आसक्तिरहित अन्तःकरणवाला साधक आत्मामें स्थित जो ध्यानजनित सात्त्विक आनन्द है, उसको प्राप्त होता है; तदनन्तर वह सच्चिदानन्दघन परब्रह्म परमात्माके ध्यानरूप योगमें अभिन्नभावसे स्थित पुरुष अक्षय आनन्दका अनुभव करता है|
English
O Arjuna, a person who has totally detached himself from the material world and is happy and satisfied within his own self, attains eternal peace. When a person is truly established in the Yoga of God (service, devotion and prayers to Him), he experiences true, eternal bliss without a doubt, O Arjuna.