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शुचौ देशे प्रतिष्ठाप्य स्थिरमासनमात्मनः । नात्युच्छ्रितं नातिनीचं चैलाजिनकुशोत्तरम्॥६-२८-११॥
In a clean place, let him set up for himself a firm seat—neither too high nor too low—arranged with cloth, antelope-skin, and kuśa-grass as coverings.
english translation
तत्रैकाग्रं मनः कृत्वा यतचित्तेन्द्रियक्रियः । उपविश्यासने युञ्ज्याद्योगमात्मविशुद्धये॥६-२८-१२॥
There, making the mind one-pointed and restraining the activities of mind and senses, seated on the seat, one should practice yoga for the purification of the self.
english translation
समं कायशिरोग्रीवं धारयन्नचलं स्थिरः । संप्रेक्ष्य नासिकाग्रं स्वं दिशश्चानवलोकयन्॥६-२८-१३॥
Keeping the body, head, and neck aligned, motionless and steady, let him gaze at the tip of his nose and not look about in the directions.
english translation
प्रशान्तात्मा विगतभीर्ब्रह्मचारिव्रते स्थितः । मनः संयम्य मच्चित्तो युक्त आसीत मत्परः॥६-२८-१४॥
With the inner self pacified, free from fear, established in the vow of brahmacarya, having restrained the mind, with consciousness fixed on Me—disciplined—one should sit, taking Me as the supreme goal.
english translation
युञ्जन्नेवं सदात्मानं योगी नियतमानसः । शान्तिं निर्वाणपरमां मत्संस्थामधिगच्छति॥६-२८-१५॥
Thus, continually disciplining the self, the yogin of regulated mind attains peace—whose supreme culmination is nirvāṇa—abiding in Me.
english translation