शक्नोतीहैव यः सोढुं प्राक्शरीरविमोक्षणात्। कामक्रोधोद्भवं वेगं स युक्तः स सुखी नरः ॥

śhaknotīhaiva yaḥ soḍhuṁ prāk śharīra-vimokṣhaṇāt kāma-krodhodbhavaṁ vegaṁ sa yuktaḥ sa sukhī naraḥ

He who is able to endure here on earth, ere he be liberated from the body, the force born from desire and passion, he is harmonised, he is a happy man.

In plain words: Krishna says that a person who can hold back the strong push of desire and anger, while still alive in this body, is balanced and truly happy.