But a person of disciplined mind, who moves among sense objects with senses free from attraction and aversion and held under the self's control, attains serenity.
Explanation
Krishna has just described how brooding on sense objects leads to ruin. Here he gives the contrast: one can live among sense objects without being harmed if the senses are free of attraction (rāga) and aversion (dveṣa) and are governed by the self. The result is serenity (prasāda), a clear and settled mind. Commentators differ slightly on whether "the self" (ātman) here means the disciplined mind or the inner Self, but both agree that the inner discipline is what matters, not avoiding the world.