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॥

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 Tātparya 6.20-23

'ātmānam' - Lord Vishnu; 'ātmanā' - by His grace.

The word 'ātmānam' refers to Lord Vishnu. The word 'ātmanā' means 'by His grace'.