Can you explain what Chapter 17 says about Baba's teachings on joy and how this connects to the concept of Brahman?

According to Chapter 17, Baba's constant advice to his devotees was, "Do not worry in the least; always be full of joy; do not worry until death." This teaching is presented as a direct translation of the Taittiriya Shruti's famous declaration, "Brahman is bliss." The chapter explains that Baba made this profound scriptural principle accessible to his followers through his simple, direct guidance. This theme is so central that the text states the determination of the principle of Brahman is a primary direction of this chapter, suggesting that understanding this connection between the divine and inherent bliss is a key to crossing the ocean of existence.