“ Renunciants who are desireless and wrathless, mind-controlled, and Self-realized, are completely free both in this world and in the beyond. ”
Source: Bhagavad Gita 5.26
That person realizes peace who, relinquishing all desires, exists without craving and is unidentified with the mortal ego and its sense of "mine-ness."
Although the butterfly and the caterpillar are completely different, they are one and the same.
He who is of purified intellect, who controls the mind and senses, feels his self as the Self-existing in all beings.
Self-realized sages behold with an equal eye a learned and humble Brahmin, a cow, an elephant, a dog, and a dog-eater.
Those who are moderate in eating and recreation, balanced in work, and regulated in sleep, and remain awake will attain 'yoga'- the destroyer of suffering.