Sārathi

Chapter 6: Dhyana Yoga, verse 21

सुखमात्यन्तिकं यत्तद्बुद्धिग्राह्यमतीन्द्रियम्।
वेत्ति यत्र न चैवायं स्थितश्चलति तत्त्वतः ॥

Say itsukham ātyantikaṁ yat tad buddhi-grāhyam atīndriyam
vetti yatra na chaivāyaṁ sthitaśh chalati tattvataḥ

Practice reciting

Translation

When he (the Yogi) feels that infinite bliss which can be grasped by the pure intellect and which transcends the senses, and is established therein, never moving away from the reality.

Swami Sivananda

Classical commentariesFor deeper study. Most are in the original Sanskrit.

Advaita

Non-dual: the self and the absolute are one.

Vishishtadvaita

Qualified non-dual: souls are real parts of the divine.

Dvaita

Dual: the soul and God are eternally distinct.

Shuddhadvaita

Pure non-dual, centred on grace and devotion.

Kashmir Shaivism

The Gita read through Trika Shaiva philosophy.

Modern teachers

20th-century teachers writing for today's readers.