Wisdom from the Bhagavad Gita 19

18. The knowers of the Self look with an equal eye on a Brâhmana endowed with learning and humility, a cow, an elephant, a dog, and a pariah.  

19. Relative existence has been conquered by them, even in this world, whose mind rests in evenness, since Brahman is even and without imperfection: therefore they indeed rest in Brahman.

20. Resting in Brahman, with intellect steady, and without delusion, the knower of Brahman neither rejoices on receiving what is pleasant, nor grieves on receiving what is unpleasant.
 
21. With the heart unattached to external objects, he realizes the joy that is in the Self. With the heart devoted to the meditation of Brahman, he attains un-decaying happiness.

22. Since enjoyments that are contact-born are parents of misery alone, and with beginning and end, O son of Kunti, a wise man does not seek pleasure in them.

23. He who can withstand in this world, before the liberation from the body, the impulse arising from lust and anger, he is steadfast in Yoga, he is a happy man.

24. Whose happiness is within, whose relaxation is within, whose light is within, that Yogi alone, becoming Brahman, gains absolute freedom.  

25. With imperfections exhausted, doubts dispelled, senses controlled, engaged in the good of all beings, the Rishis obtain absolute freedom.

26. Released from lust and anger, the heart controlled, the Self realized, absolute freedom is for such Sannyâsis, both here and hereafter. 

27-28. Shutting out external objects, steadying the eyes between the eyebrows, restricting the even currents of Prâna and Apâna inside the nostrils; the senses, mind, and intellect controlled, with Moksha as the supreme goal, freed from desire, fear and anger: such a man of meditation is verily free for ever. 

29. Knowing Me as the dispenser of Yajnas and asceticisms, as the Great Lord of all worlds, as the friend of all beings, he attains Peace.

—Bhagavad Gita, 5:18-29