For those ascetics who are free from desire and anger, whose minds are disciplined, and who have come to know the Self, the nirvana of Brahman lies close at hand on every side.
Explanation
Krishna continues describing those who reach freedom, building on the previous verse. Such ascetics (yati) have mastered desire (kāma) and anger (krodha), steadied the mind, and known the Self (ātman). For them the nirvana of Brahman (brahmanirvāṇa), freedom and peace in the ultimate reality, is near on every side. Traditions differ on whether this is liberation reached while alive or at death, and whether it means absorption into Brahman or union with God.