One word in this shloka deserves special attention: sukhena. It means 'easily' or 'naturally.' The yogi who has steadily purified himself does not wrestle Brahman into view. The experience arrives on its own, the way dawn arrives without effort once the night has passed.
And what does this experience feel like? Krishna calls it 'brahma-samsparsham' — the touch of Brahman. Not a thunderclap. Not a blinding vision. A touch. The gentlest word possible. Like someone you love placing a hand on your shoulder when you did not know they were there. That is how the Divine makes itself known — quietly, from within, filling everything with peace.
The phrase 'atyantam sukham' means joy without end. Not joy that peaks and fades, but joy that simply stays. This is the fruit of the patient, step-by-step practice Krishna has been describing since 6.24.