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  1. siva.sh/bhagavad-gita/6/24
    सङ्कल्पप्रभवान्कामांस्त्यक्त्वा सर्वानशेषतः । मनसैवेन्द्रियग्रामं विनियम्य समन्ततः ॥ ६-२४ ॥saGkalpaprabhavAnkAmAMstyaktvA sarvAnazeSataH । manasaivendriyagrAmaM viniyamya samantataH ॥ 6-24 ॥Abandoning without reserve all desires born of Sankalpa (thought and imagination) and completely restraining the whole group of the senses by the mind from all sides.
  2. siva.sh/bhagavad-gita/6/23
    तं विद्याद् दुःखसंयोगवियोगं योगसंज्ञितम् । स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा ॥ ६-२३ ॥taM vidyAd duHkhasaMyogaviyogaM yogasaMjJitam । sa nizcayena yoktavyo yogo'nirviNNacetasA ॥ 6-23 ॥One should know that severance of contact with sorrow to be what is called Yoga (which is goal of Dhyana-yoga or meditation). That Yoga has to be practiced with perseverance and with a mind free from despondency.
  3. siva.sh/bhagavad-gita/6/22
    यं लब्ध्वा चापरं लाभं मन्यते नाधिकं ततः । यस्मिन्स्थितो न दुःखेन गुरुणापि विचाल्यते ॥ ६-२२ ॥yaM labdhvA cAparaM lAbhaM manyate nAdhikaM tataH । yasminsthito na duHkhena guruNApi vicAlyate ॥ 6-22 ॥Obtaining which one does not think of any other acquisition to be superior to that, and being established in which one is not perturbed even by great sorrow;
  4. siva.sh/bhagavad-gita/6/21
    सुखमात्यन्तिकं यत्तद् बुद्धिग्राह्यमतीन्द्रियम् । वेत्ति यत्र न चैवायं स्थितश्चलति तत्त्वतः ॥ ६-२१ ॥sukhamAtyantikaM yattad buddhigrAhyamatIndriyam । vetti yatra na caivAyaM sthitazcalati tattvataH ॥ 6-21 ॥When he (the Yogi) feels that Infinite Bliss which can be grasped by the (pure) intellect and which transcends the senses, and established wherein he never moves from the Reality.
  5. siva.sh/bhagavad-gita/6/20
    यत्रोपरमते चित्तं निरुद्धं योगसेवया । यत्र चैवात्मनात्मानं पश्यन्नात्मनि तुष्यति ॥ ६-२० ॥yatroparamate cittaM niruddhaM yogasevayA । yatra caivAtmanAtmAnaM pazyannAtmani tuSyati ॥ 6-20 ॥At the time when the mind restrained through the practice of Yoga gets withdrawn, and just when by seeing the Self by the self; one remains contented in the Self alone.
  6. siva.sh/bhagavad-gita/6/19
    यथा दीपो निवातस्थो नेङ्गते सोपमा स्मृता । योगिनो यतचित्तस्य युञ्जतो योगमात्मनः ॥ ६-१९ ॥yathA dIpo nivAtastho neGgate sopamA smRtA । yogino yatacittasya yuJjato yogamAtmanaH ॥ 6-19 ॥As a lamp placed in a windless spot does not flicker to such is compared the Yogi of controlled mind, practising Yoga in the Self (or absorbed in the Yoga of the Self).
  7. siva.sh/bhagavad-gita/6/18
    यदा विनियतं चित्तमात्मन्येवावतिष्ठते । निःस्पृहः सर्वकामेभ्यो युक्त इत्युच्यते तदा ॥ ६-१८ ॥yadA viniyataM cittamAtmanyevAvatiSThate । niHspRhaH sarvakAmebhyo yukta ityucyate tadA ॥ 6-18 ॥When the perfectly controlled mind rests in the Self only, free from longing for all the objects of desires, then it is said, "He rests in the Self alone".
  8. siva.sh/bhagavad-gita/6/17
    युक्ताहारविहारस्य युक्तचेष्टस्य कर्मसु । युक्तस्वप्नावबोधस्य योगो भवति दुःखहा ॥ ६-१७ ॥yuktAhAravihArasya yuktaceSTasya karmasu । yuktasvapnAvabodhasya yogo bhavati duHkhahA ॥ 6-17 ॥He who is temperate in his habits of eating, sleeping, working and recreation can mitigate all material pains by practicing the yoga.
  9. siva.sh/bhagavad-gita/6/16
    नात्यश्नतस्तु योगोऽस्ति न चैकान्तमनश्नतः । न चातिस्वप्नशीलस्य जाग्रतो नैव चार्जुन ॥ ६-१६ ॥nAtyaznatastu yogo'sti na caikAntamanaznataH । na cAtisvapnazIlasya jAgrato naiva cArjuna ॥ 6-16 ॥Yoga is neither for him who eats too much; nor for him who totally abstains from eating; nor for him who is prone to sleep too much; and nor for him who keeps awake too much.
  10. siva.sh/bhagavad-gita/6/15
    युञ्जन्नेवं सदात्मानं योगी नियतमानसः । शान्तिं निर्वाणपरमां मत्संस्थामधिगच्छति ॥ ६-१५ ॥yuJjannevaM sadAtmAnaM yogI niyatamAnasaH । zAntiM nirvANaparamAM matsaMsthAmadhigacchati ॥ 6-15 ॥Concentrating the mind thus for ever, the yogi of controlled mind achieves the Peace which culminates in Liberation (Param Nirvana) and which abides in Me.