Thus the self-controlled yogi, constantly engaged in yoga practice, becomes free from all material contamination and achieves the highest stage of perfect happiness in transcendental loving service to the Lord.

The yogi who practices continuously and is purified of all impurities easily attains the touch of Brahman — the limitless happiness of direct contact with the Supreme. Brahma-sparsha (the touch of Brahman) is the supreme reward of sustained practice.