Chapter 6 · The Yoga of Meditation · Krishna said
Bhagavad Gita 6.28 — Touch of Brahman
युञ्जन्नेवं सदात्मानं योगी विगतकल्मषः। सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्नुते ॥
yuñjannevaṃ sadātmānaṃ yogī vigatakalmaṣaḥ | sukhena brahmasaṃsparśamatyantaṃ sukhamaśnute ||
Meaning
Constantly practising in this way, the yogi free of sin easily enjoys the boundless joy of contact with Brahman.