The happiness that comes from knowing the Brahman can be described. Imagine a youthful person. Let that youthful person be happy. Let him also be learned and the best of rulers. Let his body be firm and strong. Let him possess the entire world with all its wealth. This is the best happiness that man can think of. Multiply this happiness a hundredfold.
The self is entangled with the material end, removing it from the equation, doing deeds selflessly, without expecting praise is the path to Brahman.