5.28 यतेन्द्रियमनोबुद्धिः with senses, mind and intellect (ever) controlled, मुनिः the sage, मोक्षपरायणः having liberation as his supreme goal, विगतेच्छाभयक्रोधः free from desire, fear and anger, यः who, सदा for ever, मुक्तः free, एव verily, सः he.

Commentary:
If one is free from desire, fear and anger he enjoys perfect peace of mind. When the senses, the mind and the intellect are subjugated, the sage does constant contemplation and,attains for ever to the absolute freedom or Moksha.The mind becomes restless when the modifications of deisre, fear and anger arise in it. When one becomes desireless, the mind moves towards the Self spontaneously liberation or Moksha becomes his highest goal.Muni is one who does Manana or reflection and contemplation.