Thus, always practicing yoga, with controlled mind, the yogi attains the supreme peace, nirvāṇa, which abides in Me.

The result of constant practice (sadā): śānti (peace) of nirvāṇa-paramā type — the highest, final liberation. Nirvāṇa means “extinction” of mental impressions (vāsanā).

Mat-saṃsthā is crucial: “which abides in Me / has its basis in Me.” Liberation is not an abstract impersonal void, but conscious rest in the Divine. This is one of the theological bases of Vaiṣṇavism.