Bhagavad-gita 6.20–23

 “Perfection is characterised by one’s ability to see the self by the pure mind and to relish and rejoice in the self. In that joyous state, one is situated in boundless spiritual happiness, realised through transcendental senses. Established thus, one never departs from the truth, and upon gaining this he thinks there is no greater gain. Being so situated, one is never shaken even in the midst of greatest difficulty. This indeed is actual freedom from all mis­eries arising from material contact.”