रागद्वेषवियुक्तैस्तु विषयानिन्द्रियैश्चरन्। आत्मवश्यैर्विधेयात्मा प्रसादमधिगच्छति ॥

rāga-dveṣha-viyuktais tu viṣhayān indriyaiśh charan ātma-vaśhyair-vidheyātmā prasādam adhigachchhati

But the disciplined self, moving among sense-objects with senses free from attraction and repulsion, mastered by the Self, goeth to peace.

In plain words: A disciplined person can live among all the things of the world without being pulled toward them or pushed away by them. Because they are in control of themselves, they find peace.