Sbg 18.36 etradi
English Translation of Ramanuja's Sanskrit Commentary By Swami Adidevananda 18.36 Now, hear about the pleasure to which the knowledge, action, agent etc., already mentioned are all subservient and which is threefold according to the Gunas. ৷৷. That pleasure in which a person, through long practice extending over a long time, gradually attains to incomparable joy and never again is engulfed by the pain of life in Samsara.
Sri Krsna explains the same: