B.G 2.53

श्रुतिविप्रतिपन्ना ते यदा स्थास्यति निश्चला। समाधावचला बुद्धिस्तदा योगमवाप्स्यसि ॥२-५३॥

śrutivipratipannā tē yadā sthāsyati niścalā। samādhāvacalā buddhistadā yōgamavāpsyasi ॥2-53॥

When your intellect gets stationed in the special knowledge of Vēdas without waver, then having a steady-equanimous-state, you will attain Yōga.

Gīta Bhāshya 2.53

When the intellect grasps the certain knowledge of Vēdas decisively, the mind becomes unwavering and attains Yōga.

Same (right understanding of Vēdas) is clarified futher in 'śrutivipratipannā' verse.

'shruti' means Vedas. 'vipratipannā' means opposed to. When the knowledge that was previously opposed to Vedas comes to decisive understanding of its principles in line with the Vedas, in spite of statements that appear contradictory, then it becomes unwavering. From such wisdom, he obtains an equanimous state (smādhi) and becomes steady. In such a state, he is unaffected even by the beating of the drum as he is immersed in supreme bliss by direct perception of the Brahman. When such a practice is perfected, you will attain Yōga - is the meaning.