यस्त्वात्मरतिरेवान्तः कुर्वन्कर्मेन्द्रियैः क्रियाः ।न वशो हर्षशोकाभ्यां स समाहित उच्यते
In plain words
But he who, delighting in the self alone within, performs actions with the organs of action, and is not swayed by joy or grief -- he is called samāhita.