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

Bhagavad Gīta Bhāshya

yogī yuñjīta satatamātmānaṁ rahasi sthitaḥ। ekākī yatacittātmā nirāśīraparigrahaḥ ॥10॥

Staying in a secluded place, devoid of material greed, without possessions, the Yogi should constantly engage the mind and situate the mind in the Lord alone.

Starting from this vrse, 'Samadhi Yoga' is described. 'yuñjīta' - aspiring to reach the end goal of the yoga of meditation one should perform. 'ātmānam' - refers to the mind.

samādhiyogaprakāramāha - yogī yuñjīta ityādinā। yuñjīta samādhiyogayuktaṁ kuryāt। ātmānaṁ manaḥ।

The method of Samadhi Yoga is described, starting from the verse 'yogī yuñjīta', i.e. 'the yogi should engage'. The word 'yuñjīta', i.e. 'should engage', means 'aspiring to reach the end goal of the yoga of meditation one should perform'. The word 'ātmānam' refers to the mind.

बहुचित्रजगद्बहुधाकरणात् परशक्तिरनन्तगुणः परमः ।
सुखरूपममुष्य पदं परमं स्मरतस्तु भविष्यति तत्सततम् ॥
"The one who has created this variegated vast universe with varied forms has infinite power and is of infinite auspicious qualities. He certainly bestows the highest state of bliss to those who meditate on his ever happy essence." -Dwādasha stōtra 4.3

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