Madhvacharya's Dvaita Vedanta and translation of Sarvamoola containing Bhagavad Gita, Upanishads, and Brahmasutra.

आरुरुक्षोर्मुनेर्योगं कर्म कारणमुच्यते। योगारूढस्य तस्यैव शमः कारणमुच्यते ॥३॥

It is said that for the sage who aims to become a Yōgi, performing duties is the cause. It is said, for one who is already on the path, striving of his mind to be stationed in the intellect, becomes the sole cause.

'yogam ārurukṣoḥ' - one who is desiring the fulfillment of means of the Yoga. 'yogaṁ ārūḍhasya' - one who is searching for the means to fulfill his undertaking of Yoga. Such persons are after knowledge beyond the material. Only for such persons meditation and worship becomes the primary cause.

योगम् आरुरुक्षोः उपायसम्पूर्तिम् इच्छोः।योगं आरूढस्य सम्पूर्णोपायस्य। अपरोक्षज्ञानिनः इत्यर्थः। कारणं परमसुखकारणम्। अपरोक्षज्ञानिनोऽपि समाध्यादिफलम् उक्तम्। तस्य सर्वोपशमेन समाधिरेव कारणं प्राधान्येन इत्यर्थः। तथापि यदा भोक्तव्योपरमः तदैव सम्यग् असम्प्रज्ञातसमाधिः जायते। अन्यदा तु भगवच्चरितादौ स्थितिः। तच्चोक्तम्-

'yogam ārurukṣoḥ' - means one who is desiring the fulfillment of means of the Yoga. 'yogaṁ ārūḍhasya' - One who is searching for the means to fulfill his undertaking of Yoga. Such a person is aspiring to become 'aparokṣajñānin', i.e. he is seeking the knowledge beyond the worldly. Thus, the stated 'cause' should be the cause for ultimate happiness. For a such a knowledgeable person, absorption in the state of equanimity (samādhi) is stated as a benefit. His withdrawal from all aspects, indeed, becomes the primary cause for his equanimous state (samādhi), is the meaning. Even there, when the enjoyment ceases, then indeed, arises the perfect 'asamprajñātasamādhi' state, i.e. equanimous state that does not need the support of an external seed. Otherwise, he is absorbed in listening to the past activities of the lord. Therefore, it is said:

"ये त्वां पश्यन्ति भगवंस्त एव सुखिनः परम्। तेषामेव तु सम्यक्च समाधिर्जायते नृणाम्॥
भोक्तव्यकर्मण्यक्षीणे जपेन कथयाऽपि वा। वर्तयन्ति महात्मानः त्वद्भक्तास्त्वत्परायणाः॥"

"O Lord, those who see you alone experience supreme happiness. For them, indeed, samādhi arises perfectly. Until the experiences to be experienced derived from past actions wane, your devotees immerse themselves in meditation and the recollection of your past deeds."