BhG 5.24

syntax

yaḥ (he who) antaḥ-sukhaḥ (whose happiness is within) tathā (so) antar-ārāmaḥ (whose delight is within),
yaḥ (he who) antar-jyotiḥ eva (whose only light is within),
saḥ yogī (that yogī) brahma-bhūtaḥ (being brahman) brahma-nirvāṇam (extinction in brahman) adhigacchati (he obtains).

grammar

yaḥ	–	yat sn. 1n.1 m. – he who;
antaḥ-sukhaḥ	–	antaḥ-sukha 1n.1 m.; BV: yasya sukham antar asti saḥ – whose happiness is within (from: anta – end, limit, boundary, inside, nature, av. antaḥ – inside, within; su – prefix: good, excellent, beautiful, virtuous; kha – cavity, hole, nave; su-kha – joy, happiness, literally: good hole in the nave [of a wheel through which an axis runs] that makes the moving smooth; or from: su-√sthā; opposite to: duḥkha – pain, difficulty);
antar-ārāmaḥ	–	antaḥ-ārāma 1n.1 m.; BV: yasyārāmo ‘ntar asti saḥ – whose delight is within (from: anta – end, limit, boundary, inside, nature, av. antaḥ – inside, within; ā-√ram – to desist, to rejoice, ā-rāma – delight, pleasure);
tathā	–	av. – in that manner, so, in like manner;
antar-jyotiḥ	–	antaḥ-jyotiḥ 1n.1 m.; BV: yasya jyotir antar asti saḥ – whose light is within (from: anta – end, limit, boundary, inside, nature, av. antaḥ – inside, within; jyotiḥ – light, brightness, fire, eye);
eva	–	av. – certainly, just, merely;
yaḥ	–	yat sn. 1n.1 m. – he who;
saḥ	–	tat sn. 1n.1 m. – he;
yogī	–	yogin 1n.1 m. – jogī, engaged (√yuj – to yoke, to join, to engage, yoga – yoga, yoking, application, a means, one of the schools of Hindu philosophy);
brahma-nirvāṇam	–	brahma-nirvāṇa 2n.1 n.; TP: brahmaṇi nirvāṇam iti – extinction in brahman (from: √bṛh – to increase, brahman – spirit, the Vedas; nir-√vā – to blow out, to extinguish, to soothe, nirvāṇa – extinction, perfect calm, death, final liberation);
brahma-bhūtaḥ	–	brahma-bhūta 1n.1 m..; TP: brahmaṇi bhūta iti – being in brahman / being brahman (from: √bṛh – to increase, brahman – spirit, the Vedas; √bhū – to be, PP bhūta – been, real, world);
adhigacchati	–	adhi-√gam (to cross over, to obtain) Praes. P 1v.1 – he obtains;

textual variants

yo ‘ntaḥ-sukho → antaḥ-sukho / yuktaḥ sukho / yo ‘taḥ sukho (happy within / engaged and happy / he who happy by that);
sa yogī brahma-nirvāṇaṁ → sa pārtha paramaṁ yogaṁ (O son of Pṛthā, he that supreme yoga);

Śāṃkara

kathaṃ-bhūtaś ca brahmaṇi sthito brahma prāpnoti ? ity āha bhagavān—

yo’ntaḥ-sukho’ntar ātmani sukhaṃ yasya so’ntaḥ-sukhaḥ, tathāntar evātmany ārāma āramaṇam ākrīḍā yasya so’ntar-ārāmaḥ | tathaivāntar eva ātmany eva jyotiḥ prakāśo yasya so’ntar-jyotir eva, ya īdṛśaḥ so yogī brahma-nirvāṇaṃ brahmaṇi nirvṛtiṃ mokṣam iha jīvann eva brahma-bhūtaḥ sann adhigacchati prāpnoti

Rāmānuja

yo bāhyaviṣayānubhavaṃ sarvaṃ vihāya antassukhaḥ ātmānubhavaikasukhaḥ, antarārāmaḥ ātmaikodyānaḥ svaguṇair ātmaiva sukhavardhako yasya sa tathoktaḥ, tathāntarjyotiḥ ātmaikajñāno yo vartate, sa brahmabhūto yogī brahmanirvāṇam ātmānubhavasukhaṃ prāpnoti

Śrīdhara

na kevalaṃ kāma-krodha-vega-saṃharaṇa-mātreṇa mokṣaṃ prāpnoti | api tu yo ‚ntaḥ-sukha iti | antarātmany eva sukhaṃ yasya | na viṣayeṣu | antar evārāma ākrīḍā yasya na bahiḥ | antar eva jyotir dṛṣṭir yasya | na gīta-nṛtyādiṣu | sa evaṃ brahmaṇi bhūtaḥ sthitaḥ san brahmaṇi nirvāṇaṃ layam adhigacchati prāpnoti

Madhusūdana

kāma-krodha-vega-sahana-mātreṇaiva mucyante iti na, kintu yo ‚ntar iti |
antar-bāhya-viṣaya-nirapekṣam eva svarūpa-bhūtaṃ sukhaṃ yasya so ‚ntaḥ-sukho bāhya-viṣaya-janita-sukha-śūnya ity arthaḥ | kuto bāhya-sukhābhāvas tatrāha antar ātmany eva na tu stry-ādi-viṣaye bāhya-sukha-sādhana ārāma āramaṇaṃ krīḍā yasya so ‚ntar-ārāmas tyakta-sarva-parigrahatvena bāhya-sukha-sādhana-śūnya ity arthaḥ |

nanu tyakta-sarva-parigrahasyāpi yater yadṛcchopanataiḥ kokilādi-madhura-śabda-śravaṇa-manda-pavana-sparśana-candrodaya-mayūra-nṛtyādi-darśanāti-madhura-śītala-gaṅgodaka-pāna-ketakī-kusuma-saurabhādy-avaghrāṇādibhir grāmyaiḥ sukhotpatti-sambhavāt kathaṃ bāhya-sukha-tat-sādhana-śūnyatvam iti tatrāha tathāntar-jyotir eva yaḥ | yathāntar eva sukhaṃ na bāhyair viṣayais tathāntar evātmani jyotir vijñānaṃ na bāhyair indriyair yasya so ‚ntar-jyotiḥ śrotrādi-janya-śabdādi-viṣaya-vijñāna-rahitaḥ | eva-kāro viśeṣaṇa-traye ‚pi sambadhyate | samādhi-kāle śabdādi-pratibhāsābhāvād vyutthāna-kāle tat-pratibhāse ‚pi mithyātva-niścayān na bāhya-viṣayais tasya sukhotpatti-sambhava ity arthaḥ |

ya evaṃ yathokta-viśeṣaṇa-sampannaḥ sa yogī samāhito brahma-nirvāṇaṃ brahma paramānanda-rūpaṃ kalpita-dvaitopaśama-rūpatvena nirvāṇaṃ tad eva, kalpita-bhāvasyādhiṣṭhānātmakatvāt | avidyāvaraṇa-nivṛttyādhigacchati nitya-prāptam eva prāpnoti | yataḥ sarvadaiva brahma-bhūto nānyaḥ | brahmaiva san brahmāpy eti iti śruteḥ | avasthiter iti kāśa-kṛtsnaḥ iti nyāyāc ca

Viśvanātha

yas tu saṃsārātītas tasya tu brahmānubhava eva sukham ity āha ya iti | antarātmany eva sukhaṃ yasya saḥ | yato ‚ntarātmany eva ramate, ato ‚ntarātmany eva jyotir dṛṣṭir yasya saḥ

Baladeva

yat prītyā taṃ soḍhuṃ śaktas tad āha yo ‚ntar iti | antarvartinānubhūtenātmanā sukhaṃ yasya saḥ, tenaivārāmaḥ krīḍā yasya saḥ | tasminn eva jyotir dṛṣṭir yasya saḥ | īdṛśo yogī niṣkāma-karmī brahma-bhūto labdha-śuddha-jaiva-svarūpo brahmādhigacchati paramātmānaṃ labhate | nirvāṇaṃ mokṣa-rūpaṃ tenaiva tal-lābhāt