Self-realisation is a state of mind that neither adds anything to it nor anything can be taken away from it. In this state, we are in bliss, devoid of any kind of joy and sorrow that keep us in the 'bliss of ignorance' and bondage.
One can say it is understanding the ultimate truth about ourselves. And the truth is that we are just mortals; and in this short life we have a chance to know and attain a state of mind that it is blissful and is not influenced by any kind of factor bringing joy or pain.
Once you reach this stage of mind, you are blessed with all human qualities of head and heart. Only this kind of mind-stage gives one the possibility of having a life that is truly one with the self.
The Siddhas in the Yoga Vasistha has a story of King Janaka of Videha and self-realisation. The 'songs' in these teachings are so influential that Janaka got realisation soon after listening to them. The Siddhas say that the knowledge of the self confers bliss and helps the merger of the knower and the known. It was primarily this message that the king imbibed and became 'alone' and thus free from all kinds of material needs and desires for the self. He could thus rule selflessly and dispassionately, adding to his subjects' welfare and happiness.
I am always impressed when I recall Swiss philosopher Henry Fredric Amiel, "Life is too short and we never have enough time for gladdening the hearts of those who travel the way with us. Oh, be swift with love, make haste to be kind." That is the way to go in life; and a life fulfilled is a life given to others. Fulfilment, after all, lies in a life shared to unburden your fellow travellers' pain and worries.
Life in its true essence is giving; and the joy of giving is great. George Granville says, "What we frankly give, forever is our own." The moral: Giving is receiving.