In plain words
Thus constantly keeping the self collected, with the mind controlled, the yogin attains peace—the peace whose final end is nirvāṇa, resting in Me.
Word for word
Thus always collecting the mind, the yogin with mind restrained attains peace, culminating in nirvāṇa, resting in Me.
युञ्जन्नेवं सदाऽऽत्मानं योगी नियतमानसःशान्तिं निर्वाणपरमां मत्संस्थामधिगच्छति
Other commentaries
The commentators
▸Bhagavadgītābhāṣyam
अथेदानीं योगफलमुच्यते —
युञ्जन् समाधानं कुर्वन् एवं यतोक्तेन विधानेन सदा आत्मानं सर्वदा योगी नियतमानसः नियतं संयतं मानसं मनो यस्य सोऽयं नियतमानसः, शान्तिम् उपरतिं निर्वाणपरमां निर्वाणं मोक्षः तत् परमा निष्ठा यस्याः शान्तेः सा निर्वाणपरमा तां निर्वाणपरमाम् , मत्संस्थां मदधीनाम् अधिगच्छति प्राप्नोति ॥ १५ ॥
In plain words
Now let's see what yoga actually yields —
Practicing this way, always composing himself just as described, always applying himself, the yogī whose mind is fully controlled—restrained, held steady—attains that peace which culminates in liberation, in release. Peace whose highest point is liberation itself, a peace that rests in Me, depends on Me alone.
Close to the Sanskrit
Now, at this point, the fruit of yoga is stated —
Practicing—i.e. making composure—thus, in the manner stated, applying himself always, always, the yogī of controlled mind—i.e. one whose mental faculty, mind, is controlled, restrained—he is ‘controlled in mind’; attains, i.e. obtains, peace—i.e. cessation—culminating in liberation—i.e. release; that peace whose culmination is supreme is ‘culminating in liberation’—that peace culminating in liberation, resting in Me, i.e. dependent on Me.