B.G 6.20,22, and 23

यत्रोपरमते चित्तं निरुद्धं योगसेवया। यत्र चैवात्मनाऽत्मानं पश्यन्नात्मनि तुष्यति ॥२०॥

yatroparamate cittaṁ niruddhaṁ yogasevayā। yatra caivātmanā'tmānaṁ paśyannātmani tuṣyati ॥20॥

सुखमात्यन्तिकं यत्तद् बुद्धिग्राह्यमतींद्रियम्। वेत्ति यत्र न चैवायं स्थितश्चलति तत्त्वतः ॥२१॥

sukhamātyantikaṁ yattad buddhigrāhyamatīṁdriyam। vetti yatra na caivāyaṁ sthitaścalati tattvataḥ ॥21॥

यं लब्ध्वा चापरं लाभं मन्यते नाधिकं ततः। यस्मिन् स्थितो न दुःखेन गुरुणापि विचाल्यते ॥२२॥

yaṁ labdhvā cāparaṁ lābhaṁ manyate nādhikaṁ tataḥ। yasmin sthito na duḥkhena guruṇāpi vicālyate ॥22॥

तं विद्याद् दुःखसंयोगवियोगं योगसञ्ज्ञितम्। स निश्चयेन योक्तव्यो योगो निर्विण्णचेतसा ॥२३॥

taṁ vidyād duḥkhasaṁyogaviyogaṁ yogasañjñitam। sa niścayena yoktavyo yogo nirviṇṇacetasā ॥23॥

[यत्रो परमते चित्तं निरुद्धं योग सेवया। यत्र च एव आत्मना आत्मानं पश्यन् आत्मनि तुष्यति॥ सुखम् आत्यन्तिकं यत् तद् बुद्धि ग्राह्यम् अतींद्रियम्। वेत्ति यत्र न च एव अयं स्थितः चलति तत्त्वतः॥ यं लब्ध्वा च अपरं लाभं मन्यते न अधिकं ततः। यस्मिन् स्थितो न दुःखेन गुरुणा अपि विचाल्यते॥ तं विद्यात् दुःखसंयोग वियोगं योगसञ्ज्ञितम्। स निश्चयेन योक्तव्यो योगो निर्विण्ण चेतसा॥
यत्र (yatra) - Where; हि (hi) - indeed; परमते (paramate) - by the supreme; चित्तम् (cittam) - mind; नि (ni) - down, into; रुद्ध (ruddha) - restrained; योग (yoga) - yoga; सेवया (sevyā) - by the practice; यत्र (yatra) - where; च (ca) - and; एव (eva) - indeed; आत्मना (ātmanā) - by the mind; आत्मानं (ātmānam) - the Lord; पश्यन् (paśyan) - seeing; आत्मनि (ātmani) - in the body; तुष्यति (tuṣyati) - becomes satisfied; सुखम् (sukham) - happiness; आत्यन्तिकम् (ātyantikam) - supreme; यत् (yat) - which; तत् (tat) - that; बुद्धि (buddhi) - intellect; ग्राह्यम् (grāhyam) - perceivable; अतींद्रियम् (atīndriyam) - beyond the senses; वेत्ति (vetti) - knows; यत्र (yatra) - where; न (na) - not; च (ca) - and; एव (eva) - indeed/alone; अयम् (ayam) - this; स्थितः (sthitaḥ) - situated; चलति (calati) - moves; तत्त्वतः (tattvataḥ) - from the form of the Lord; यं (yam) - which; लब्ध्वा (labdhvā) - having obtained; च (ca) - and; अपरं (aparam) - other; लाभं (lābham) - gain; मन्यते (manyate) - considers; न (na) - not; अधिकं (adhikam) - greater; ततः (tataḥ) - than that; यस्मिन् (yasmin) - in which; स्थितः (sthitaḥ) - situated; न (na) - not; दुःखेन (duḥkhena) - by sorrow; गुरुणा (guruṇā) - by heavy; अपि (api) - even; विचाल्यते (vicālyate) - is disturbed; तं (tam) - that; विद्यात् (vidyāt) - should know; दुःखसंयोग (duḥkhasaṁyoga) - connection with sorrow; वियोगं (viyogam) - separation; योगसञ्ज्ञितम् (yogasañjñitam) - called yoga; स (sa) - that; निश्चयेन (niścayena) - with determination; योक्तव्यः (yoktavyaḥ) - should be practiced; योगः (yogaḥ) - yoga; निर्विण्ण (nirviṇṇa) - detached; चेतसा (cetasā) - with the mind;]

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॥

ātmanā manasā। ātmani dehe। ātmānaṁ bhagavantaṁ paśyan। tatvataḥ bhagavadrupāta।॥20॥

[आत्मना (ātmanā) - the word 'ātmanā' means; मनसा (manasā) - 'by the mind'; आत्मनि (ātmani) - the word 'ātmani' means; देहे (dehe) - 'in the body'; आत्मानं (ātmānam) - the word 'ātmānam' means; भगवन्तं (bhagavantaṁ) - the Lord; पश्यन् (paśyan) - seeing;]

The word 'ātmanā' means 'by the mind'; 'ātmani' means 'in the body'; 'ātmānam paśyan' means 'seeing the Lord'.

तत्वतः भगवद्रुपात।॥२१॥

tatvataḥ bhagavadrupāta।॥21॥

[तत्वतः (tattvataḥ) - the word 'tattvataḥ' means; भगवद्रुपात् (bhagavadrūpāt) - from the form of the Lord;]

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॥

duḥkhasaṁyogo yena viyujyate sa duḥkhasaṁyoga viyogaḥ। na kevalam utpannaduḥkhaṁ nāśayati, utpattimeva nivārayati iti darśayati saṁyogaśabdena। niścayena yoktavyaḥ yoktavya eva tadbubhūṣuṇā ityarthaḥ ॥23॥

[दुःखसंयोगः (duḥkhasaṁyogaḥ) - connection with sorrow; येन (yena) - by which; वियुज्यते (viyujyate) - is separated; स (sa) - that; दुःखसंयोग (duḥkhasaṁyoga) - connection with sorrow; वियोगः (viyogaḥ) - separation; न (na) - not; केवलम् (kevalam) - only; उत्पन्नदुःखं (utpannaduḥkham) - arisen sorrow; नाशयति (nāśayati) - destroys; उत्पत्तिमेव (utpattimeva) - even the origin; निवारयति (nivārayati) - prevents; इति (iti) - thus; दर्शयति (darśayati) - shows; संयोगशब्देन (saṁyogaśabdena) - by the word "connection"; निश्चयेन (niścayena) - with determination; योक्तव्यः (yoktavyaḥ) - should be practiced; एव (eva) - indeed; तद्बुभूषुणा (tadbubhūṣuṇā) - by the desirer of that; इत्यर्थः (ityarthaḥ) - thus the meaning;]

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.