भगवद्गीता bhagavad-gītā - chapter-5, verse-21

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बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत्सुखम् ।
स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते ॥२१॥

21. bāhyasparśeṣvasaktātmā vindatyātmani yatsukham ,
sa brahmayogayuktātmā sukhamakṣayamaśnute.

21. bāhyasparśeṣu asaktātmā vindati ātmani yat sukham
saḥ brahmayogayuktātmā sukham akṣayam aśnute

21. bāhyasparśeṣu asaktātmā ātmani yat sukham vindati.
saḥ brahmayogayuktātmā akṣayam sukham aśnute.

21. One whose mind (ātman) is unattached to external sense objects (bāhyasparśeṣu) finds the happiness that resides within the self (ātman). Such a person, with a mind (ātman) engaged in the discipline of union (yoga) with Brahman (brahman), experiences imperishable happiness.

Words meanings summery:

(Scroll down for elaborated words morphology)

बाह्यस्पर्शेषु (bāhyasparśeṣu) - in external contacts, in external sense objects

असक्तात्मा (asaktātmā) - one whose self is unattached, unattached mind

विन्दति (vindati) - finds, obtains, experiences

आत्मनि (ātmani) - in the self, in the soul, in the mind

यत् (yat) - which, what

सुखम् (sukham) - happiness, joy, ease

सः (saḥ) - he, that

ब्रह्मयोगयुक्तात्मा (brahmayogayuktātmā) - one whose self is united by the yoga (union) of Brahman

सुखम् (sukham) - happiness, joy, ease

अक्षयम् (akṣayam) - undecaying, eternal, imperishable

अश्नुते (aśnute) - attains, enjoys, experiences

Words meanings and morphology

बाह्यस्पर्शेषु (bāhyasparśeṣu) - in external contacts, in external sense objects

(noun)

Locative, masculine, plural of bāhyasparśa

bāhyasparśa - external contact, external sense object

Compound type : karmadharaya (bāhya+sparśa)

bāhya – external, outer
adjective (masculine)
sparśa – contact, touch, sensation, sense object
noun (masculine)
from root spṛś-
Root: spṛś (class 6)

असक्तात्मा (asaktātmā) - one whose self is unattached, unattached mind

(adjective)

Nominative, masculine, singular of asaktātman

asaktātman - one whose self is unattached, unattached mind

Compound type : bahuvrihi (asakta+ātman)

asakta – unattached, not clinging
adjective (masculine)
Past Passive Participle
from root sañj- with prefix a (negation)
Prefix: a
Root: sañj (class 6)
ātman – self, soul, mind, essence
noun (masculine)

विन्दति (vindati) - finds, obtains, experiences

(verb)

3rd person , singular, active, present indicative (laṭ) of vind

Present Indicative, Parasmaipada

3rd person singular, present tense, from root vid- (to find)

Root: vid (class 6)

आत्मनि (ātmani) - in the self, in the soul, in the mind

(noun)

Locative, masculine, singular of ātman

ātman - self, soul, mind, essence

यत् (yat) - which, what

(pronoun)

Nominative, neuter, singular of yad

yad - who, which, what

सुखम् (sukham) - happiness, joy, ease

(noun)

Nominative, neuter, singular of sukha

sukha - happiness, joy, ease, pleasure

सः (saḥ) - he, that

(pronoun)

Nominative, masculine, singular of tad

tad - that, he, she, it

ब्रह्मयोगयुक्तात्मा (brahmayogayuktātmā) - one whose self is united by the yoga (union) of Brahman

(adjective)

Nominative, masculine, singular of brahmayogayuktātman

brahmayogayuktātman - one whose self is united by the yoga of Brahman

A Bahuvrihi compound: one whose ātman is yukta by brahmayoga.

Compound type : bahuvrihi (brahman+yoga+yukta+ātman)

brahman – Brahman, the Absolute Truth, the ultimate reality
noun (neuter)
Root: bṛh (class 1)
yoga – union, discipline, connection
noun (masculine)
from root yuj-
Root: yuj (class 7)
yukta – joined, united, engaged, endowed with
adjective (masculine)
Past Passive Participle
from root yuj- with suffix kta
Root: yuj (class 7)
ātman – self, soul, mind, essence
noun (masculine)