Bhagavad Gita · 6.28

युञ्जन्नेवं सदात्मानं योगी विगतकल्मषः।सुखेन ब्रह्मसंस्पर्शमत्यन्तं सुखमश्नुते॥

yuñjann evaṁ sadātmānaṁ yogī vigata-kalmaṣhaḥ sukhena brahma-saṁsparśham atyantaṁ sukham aśhnute

Thus constantly uniting the self with the Supreme, the yogi, freed from sin, easily attains the infinite bliss of contact with Brahman.

— Bhagavad Gita 6.28

Source: Sacred-Texts.com (Sanskrit) + Bhagavad-Gita.io (translations)