6:27
प्रशान्तमनसं ह्येनं योगिनं सुखमुत्तमम् ।
उपैति शान्तरजसं ब्रह्मभूतमकल्मषम् ॥६- २७॥
prashaantamanasaM hyenaM yoginaM sukhamuttamam ।
upaiti shaantarajasaM brahmabhootamakalmaSham ॥६- २७॥
Source: Automatic ITRANS Transliteration
Supreme bliss comes to a Self-realized yogi whose mind is tranquil, whose desires are under control, and who is free from sin (or faults).
The yogi whose mind is fixed on Me verily attains the highest happiness. By virtue of his identity with Brahman, he is liberated; his mind is peaceful, his passions are quieted, and he is freed from sin.
Source: Bhagavad Gita As It Is