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Mahabharat

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तं विद्याद्दुःखसंयोगवियोगं योगसंज्ञितम् । स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा॥६-२८-२३॥

Know that to be yoga, called the severance from the union with suffering; that yoga should be practiced with firm determination, by a mind not given to despondency.

english translation