Krishna begins by stating that when the mind (cittam) is disciplined and under control (viniyatam), it remains firmly established (avatishthate) within the self (ātmani) alone. Here, 'self' refers to the higher self or the pure consciousness within every individual. The disciplined mind is one that is focused, steady, and undisturbed by external influences. It remains anchored in the innermost core of one's being, detached from the fluctuations of the external world.

Furthermore, Krishna highlights the significance of being free from desires (nihspṛhaḥ) for all objects (sarva kāmebhyaḥ). This implies that the yogi no longer seeks happiness from external sources such as material possessions, sensory pleasures, or worldly achievements. Instead, the yogi finds contentment within the self, recognizing the inherent bliss of their own being.

When the mind is completely absorbed in the self, devoid of any cravings or attachments to worldly desires, then the individual is considered to be in a state of yoga. This state of yoga is characterized by inner peace, contentment, and self-realization. It transcends the limitations of the material world and leads to liberation (moksha) from the cycle of birth and death.

Krishna's teachings in this verse emphasize the importance of self-discipline, self-awareness, and detachment in the practice of yoga. True yoga is not merely about performing physical postures or breathing exercises but about cultivating a profound inner transformation. It involves training the mind to remain centered and focused, while also developing detachment from the transient pleasures and distractions of the external world. By attaining a state of inner equipoise and contentment, the yogi can experience the timeless bliss of union with the divine self.