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

Bhagavad Gīta Bhāshya

śucau deśe pratiṣṭhāpya sthiramāsanamātmanaḥ। nātyucchritaṁ nātinīcaṁ cailājinakuśottaram ॥11॥

tatraikāgraṁ manaḥ kr̥tvā yatacitteṁdriyakriyaḥ। upaviśyāsane yuñjyāt yogamātmaviśuddhaye ॥12॥

In a clean place, having established a steady seat for oneself, neither too high nor too low, made of cloth or deerskin, and kuśa grass; there, having made the mind one-pointed and controlling the activities of the senses, one should sit, engaging in the practice of Samādhi-Yoga for self-purification.

Gīta Bhāshya 6.11 and 12

'yogam yuñjyat' - practice of Samādhi-Yoga, i.e. Yoga to attain the equanimous state.

yogaṁ smādhiyogaṁ yuñjyat।

The word 'yogam yuñjyat' refers to the practice of Samādhi-Yoga, i.e. Yoga to attain equanimous state.

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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