Bhagavad Gita Chapter 6 Verse 28

Gita 6.28

युज्न्, एवम्, सदा, आत्मानम्, योगी, विगतकल्मषः,
सुखेन, ब्रह्मसंस्पर्शम्, अत्यन्तम्, सुखम्, अश्नुते।।28।।

Gita 6.28

Yunjan’, evam’, sadaa, aatmaanam’, yogi, vigatkalmashH,
Sukhen, brahmsansparsham’, atyantam’, sukham’, ashnute ||28||

Translation: (VigatkalmashH) free from sin (yogi) devotee (evam’) in this way (sadaa) always (yunjan’) doing sadhna (aatmaanam’) with one’s dedication (sukhen) with ease (brahmsansparsham’) in the form of union with the Supreme God (atyantam’) never-ending (sukham’) happiness (ashnute) experiences i.e. becomes completely liberated. (28)

Gita 6.28: A sinfree devotee while constantly doing sadhna in this way with dedication experiences the never-ending happiness of the Supreme God in the form of easy union with the God i.e. becomes completely liberated.