In this part of the Bhagavad Gita, Lord Krishna talks about yoga, not just the physical exercises we often think of, but a deeper practice aimed at freeing us from sorrow and suffering. He says that true yoga is the one that helps us break free from the things that make us sad. When we can do this, it means our mind is steady and calm. Krishna says we need to be really sure about this kind of yoga and practice it with strong determination, not giving up even if things get tough.

He stresses the importance of having a clear and unwavering mind while doing yoga. It's like saying, stay focused and don't let anything shake your determination. With a peaceful and composed mind, we can handle any challenges that come our way.

This verse is all about finding inner peace and freedom from the things that trouble us. It teaches us that by practicing yoga with dedication and a calm mind, we can overcome sorrow and suffering and find true happiness within ourselves. So, it's not just about physical postures, but also about finding peace of mind and strength to face life's ups and downs.