B.G 6.20,22, and 23
यत्रोपरमते चित्तं निरुद्धं योगसेवया। यत्र चैवात्मनाऽत्मानं पश्यन्नात्मनि तुष्यति ॥२०॥
सुखमात्यन्तिकं यत्तद् बुद्धिग्राह्यमतींद्रियम्। वेत्ति यत्र न चैवायं स्थितश्चलति तत्त्वतः ॥२१॥
यं लब्ध्वा चापरं लाभं मन्यते नाधिकं ततः। यस्मिन् स्थितो न दुःखेन गुरुणापि विचाल्यते ॥२२॥
तं विद्याद् दुःखसंयोगवियोगं योगसञ्ज्ञितम्। स निश्चयेन योक्तव्यो योगो निर्विण्णचेतसा ॥२३॥
Where the mind is restrained by the practice of Yoga and stationed in the supreme, where indeed, seeing the lord through the mind, becomes satisfied within the body.
The intellect perceives that supreme happiness which is beyond the senses, and understanding him as such doesn't vacillate from the situated true form of the Lord.
Having achieved such a state, he considers no other gain as superior, and having situated there, is not disturbed by even the heaviest sorrow.
Know that be Yoga which removes association or disassociation of misery, i.e. which allows one to transcend the misery. This yoga should be practiced with determination by one with a detached mind.
Gīta Bhāshya 6.20-23
'ātmanā' - by the mind; 'ātmani' - in the body; 'ātmānam paśyan' - seeing the Lord; 'tattvataḥ' - from the form of the Lord; 'duḥkhasaṁyoga viyogaḥ' - by which the connection with sorrow is separated, i.e. not only destroys the arisen sorrow but also prevents its very generation
आत्मना मनसा। आत्मनि देहे। आत्मानं भगवन्तं पश्यन्॥२०॥
The word 'ātmanā' means 'by the mind'; 'ātmani' means 'in the body'; 'ātmānam paśyan' means 'seeing the Lord'.
तत्वतः भगवद्रुपात।॥२१॥
The word 'tattvataḥ' means 'from the form of the Lord'.
दुःखसंयोगो येन वियुज्यते स दुःखसंयोग वियोगः। न केवलम् उत्पन्नदुःखं नाशयति, उत्पत्तिमेव निवारयति इति दर्शयति संयोगशब्देन। निश्चयेन योक्तव्यः योक्तव्य एव तद्बुभूषुणा इत्यर्थः ॥२३॥
That by which the connection with sorrow is separated, is the 'duḥkhasaṁyoga viyogaḥ'. It not only destroys the arisen sorrow but also prevents its very generation - is indicated by the word 'saṁyoga'. Indeed, it should be practiced with determination by the one who desires, is the meaning.
