One can achieve inner peace and ultimate liberation through the practice of yoga. Lord Krishna emphasizes the importance of consistent effort and mental discipline in the yogic journey.

The verse begins with "yuñjannevam," which means "thus, by practicing in this way." It indicates that the method described by Lord Krishna is the means to attain the desired goal of supreme peace and liberation.

The yogi is instructed to engage in the practice of yoga "sadātmānam," which means continuously and with full concentration. This involves dedicating oneself wholeheartedly to the spiritual path, integrating yoga into every aspect of life.

Furthermore, the yogi is advised to be "niyatamānasaḥ," which means having a steadfast or controlled mind. This implies the regulation of thoughts and emotions, maintaining inner harmony even in the face of external challenges.

By consistently practicing yoga with a focused mind and disciplined senses, the yogi attains "śāntiṁ nirvāṇa-paramāṁ," which refers to supreme peace and liberation. This state of tranquility goes beyond mere temporary calmness; it is a profound inner peace that leads to liberation from the cycle of birth and death.

Lastly, Lord Krishna asserts that this supreme peace and liberation are attained by realizing the divine presence within oneself. The phrase "matsaṁsthām adhigacchati" signifies attaining union with the divine, recognizing one's inherent connection with the Supreme Being.

In essence, this verse underscores the transformative power of yoga when practiced sincerely and consistently. Through disciplined effort, control of the mind and senses, and realization of the divine within, the yogi experiences profound peace and liberation, ultimately merging with the divine consciousness.