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A person is said to have achieved yoga, the union
with the Self, when the perfectly disciplined mind gets freedom from all
desires, and becomes absorbed in the Self alone. (6.18)
As a lamp in a spot sheltered (by Brahman) from the wind (of desires)
does not flicker, this simile is used for the subdued mind of a yogi
practicing meditation on Brahman. (6.19)
When the mind disciplined by the practice of meditation becomes steady,
one becomes content in the Self by beholding Him with (purified)
intellect. (6.20)
One feels infinite bliss that is perceivable only through the intellect,
and is beyond the reach of the senses. After realizing Brahman, one is
never separated from absolute reality. (6.21)
After Self-Realization (SR), one does not regard any other gain superior
to SR. Established in SR, one is not moved even by the greatest
calamity. (6.22)
The (state of) severance of union with sorrow is known by the name of
yoga. This yoga should be practiced with firm determination and
perseverance, without any mental reservation or doubts. (6.23)
Totally abandoning all selfish desires, and completely restraining the
senses (from the sense objects) by the intellect; (6.24)
One gradually attains tranquillity of mind by keeping the mind fully
absorbed in the Self by means of a well-trained (and purified)
intellect, and thinking of nothing else. (6.25)
Wheresoever this restless and unsteady mind wanders away, one should
(gently) bring it back to the reflection of the Supreme. (6.26)
Supreme bliss comes to a Self-realized yogi whose mind is tranquil,
whose desires are under control, and who is free from sin (or faults).
(6.27)
Such a sinless yogi, who constantly engages the mind with the Self,
easily enjoys the infinite bliss of contact with Brahman. (6.28)
Because of perceiving the (same) Self (abiding) in all beings and all
beings (abiding) in the (same) Self; a yogi, who is in union with the
Self, sees everybeing with an equal eye. (See also 4.35) (6.29)
Those who see Me in everything and see everything in Me, are not
separated from Me and I am not separated from them. (6.30)
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