Sanskrit

यत्रोपरमते चित्तं निरुद्धं योगसेवया। यत्र चैवात्मनाऽऽत्मानं पश्यन्नात्मनि तुष्यति।।6.20।।

Summary

There, where the whole of nature is seen in the light of the Self, where the person abides within their Self and is satisfied there, their functions restrained by their union with the Divine, the mind finds rest.