Contemplating on the ever-changing sense objects of this world generates desires (BG 2.62). The desires by nature can only grow and never be satiated (BG 3.39). Unsatisfied desires give rise to anger (BG 2.62). As long as we are living in this material world and bringing our senses in contact with the sense objects, the forces of desire and anger cannot be checked. Unfortunately, one cannot be peaceful and happy when one is under the grip of unsatisfied desires and anger. But, if we can somehow tolerate this urge (vegaṁ) to enjoy the temporary sense objects, which is the real source of our misery (BG 5.22), we become properly situated (yuktaḥ) and happy (sukhī) in any circumstance of our life (BG 5.23).
Lord Krishna is reiterating what we discussed in the previous section — a non-attached action yogi experiences inner joy (antaḥ-sukha), inner delight (antar-ārāma) and inner vision (āntar-jyoti) — the natural consequence of being on the spiritual platform (BG 5.24). Such a yogi is free from mental contaminations (kṣīṇa-kalmaṣāḥ), engaged in the pursuit of self-realization (yatātmānaḥ) and busy in social welfare activities on a spiritual platform (sarva-bhūta-hite ratāḥ). (BG 5.25) As discussed before, this compassion is a natural outcome of working from the platform of action yoga (BG 5.7). Even though the action yogi is operating from a self-realized platform (viditātmanām), has developed control over the forces of desire and anger (kāma-krodha-vimuktānāṁ) and is engaged in the welfare of others, the yogi continues to simultaneously invest in himself/herself by constantly endeavoring for perfection (yatīnāṁ) with the help of a proper spiritual process (BG 5.26). One such practice is aṣṭāṅga-yoga (BG 5.27-28), to be elaborated in Chapter 6.
Now, the question is: what is the pivoting factor of such a successful action yogi? And, who is this Supreme that Lord Krishna had been referring to in the third person as the object of our actions (all throughout starting from BG 5.7)? The mystery is resolved in the concluding verse (BG 5.29) of this chapter, which also reveals the ultimate peace formula. In this verse, Krishna refers to Himself in the first person singular as the ultimate object of all spiritual transactions.
Peace from all material pangs is sustainably attained only when we recognize Krishna to be the supreme enjoyer, the supreme controller, and the true well-wishing friend (BG 5.29). This is the pivoting factor and the foundation for real happiness and success of a non-attached action yogi.
