One who performs their duty without attachment to the results is both a renunciant and a yogi, not the one who abstains from work or the one who merely renounces.

O Arjuna, know that which they call renunciation as yoga; no one becomes a yogi who has not renounced the desires in the mind.

For one who is aspiring for the yoga of meditation, action is said to be the means; for one who has attained to yoga, tranquility is said to be the means.

When one is not attached to sense objects or actions, and has renounced all desires, they are said to be established in yoga.

Let a man lift himself by himself; let him not degrade himself; for the self alone is the friend of oneself, and the self alone is the enemy of oneself.

For one who has conquered the mind, the mind is the best of friends; but for one who has failed to do so, the mind will remain the greatest enemy.

For one who has conquered the mind, the Supreme Self is already attained, for such a person, heat and cold, pleasure and pain, honor and dishonor are all the same.

The yogi who is satisfied in knowledge and realization, whose self is steady and who has conquered the senses, is said to be united. He sees gold and stone as equal.

One whose mind is equal towards friends, companions, enemies, strangers, the indifferent, the hateful, relatives, the righteous, and the unrighteous, such a person possesses a balanced intellect.

The yogi should constantly engage in the practice of yoga, remaining secluded, alone, with mind and body disciplined, free from expectations and possessions.

Placing the seat in a clean place, firm and neither too high nor too low, covered with sacred grass, a deerskin, and a cloth.

Keeping the mind focused at one point, with thoughts and senses under control, one should practice yoga for self-purification. Sitting in a comfortable posture, the body, head, and neck aligned, motionless and steady, gazing at the tip of the nose without looking around.

Keeping the mind focused at one point, with thoughts and senses under control, one should practice yoga for self-purification. Sitting in a comfortable posture, the body, head, and neck aligned, motionless and steady, gazing at the tip of the nose without looking around.

Remaining calm and fearless, established in the vow of celibacy, with mind controlled and thoughts focused on Me, they are truly absorbed in Me.

Thus, constantly engaging the mind and restraining the senses, the yogi, with an undeviating mind, attains supreme peace and liberation in Me.

Yoga is not for one who eats too much or eats too little, nor for one who sleeps too much or keeps awake too much, O Arjuna.

He who is regulated in his habits of eating, sleeping, recreation, and work can mitigate all material pains by practicing the yoga system.

When the restrained mind resides within the self alone, free from desire for all objects, then one is said to be in yoga.

As a lamp in a windless place does not flicker, such is the likeness of the yogi of subdued mind practicing yoga.

Where the mind, restrained through the practice of yoga, finds satisfaction in the self alone, and by beholding the self by the self.

That which is perceived by the intellect as beyond the senses, and which is supremely blissful, one realizes that state, and having obtained it, one does not deviate from the truth.

One who finds contentment within himself upon obtaining something and does not waver even when facing adversity is established in yoga, O Arjuna.

He should know this to be the true yoga which severs the connection with sorrow. For his mind is undisturbed, this (yoga) is to be known with certainty; this (yoga) is to be practiced with determination and with a mind un-dejected.

Renouncing all desires born of thoughts, completely restraining the senses and the mind all around.

Gradually, step by step, with discipline and firmness, one should control the mind, keeping it fixed on the self, and should not think of anything else.

Whenever and wherever the mind wanders due to its flickering and unsteady nature, one must bring it back under the control of the self alone.

For him who has conquered the mind, his mind being tranquil, supreme happiness comes; he becomes one with Brahman, the absolute, free from sins.

Thus constantly practicing yoga, the yogi who is free from all material contamination experiences the bliss of contact with Brahman (the divine consciousness) and enjoys boundless happiness.

The yogi who perceives the equality of all, situated in the Supreme Self, sees the Self abiding in all beings and all beings in the Self, and thus he remains in the highest state of yoga.

He who sees Me everywhere and sees everything in Me, I am never lost to him, nor is he ever lost to Me.

One who sees Me everywhere and sees everything in Me, I am never lost to them, nor are they ever lost to Me.

The one who sees equality everywhere, whether in happiness or suffering, is considered the highest yogi, O Arjuna.

O Madhusudana, this yoga which You have taught me seems impractical and unsteady due to the restless nature of the mind.

The mind is restless, turbulent, strong, and unyielding, O Krishna. I consider it as difficult to control as the wind.

Undoubtedly, O mighty-armed Arjuna, the mind is restless and difficult to restrain, but it is subdued by practice and detachment.

Yoga is difficult to attain for one of unrestrained mind, but is possible for those who strive through proper means.

Having failed to practice with steadfast determination, with a mind that wanders away from yoga, what end does one, who fails to attain perfection in yoga, meet, O Krishna?

O mighty-armed Arjun, one who is neither a failure in this world nor in the spiritual realm, such a yogi is ruined like a broken cloud, with no position in this world or the next.

O Krishna, this doubt of mine should be dispelled completely by you alone because you are the only one capable of doing so. For, no one else is found who can destroy this doubt.

O Partha (Arjuna), for the one who does good, there is no destruction either in this world or the next. For anyone who does good, my friend, there is never a fall.

Attaining the worlds of the righteous and dwelling there for countless years, one who falls from yoga is born into a family of the pure and prosperous.

Or he takes birth in the family of the wise yogis. Indeed, such a birth is very difficult to obtain in this world.

There, O Arjuna, one gains the ability to resolve past-life karma through yoga, and then, striving further, achieves perfection.

Through sustained practice, even one who is unable to control themselves is drawn towards the path of yoga, as a seeker of knowledge transcends the realm of mere words.

But the yogi, striving with diligence, purified of sins, and perfected through many births, reaches the supreme goal.

Greater than the ascetic is the yogi; greater than the intellectual is the yogi; greater than the worker is the yogi; therefore, be a yogi, O Arjun!

Of all yogis, the one with great faith who fully surrenders unto Me, I consider to be the most devout.