तद्बुद्धयस्तदात्मानस्तन्निष्ठास्तत्परायणाः। गच्छन्त्यपुनरावृत्तिं ज्ञाननिर्धूतकल्मषाः।।5.17।।
Those whose intellect, self, faith, and refuge are fixed in That, whose impurities are destroyed by knowledge, go to non-return, liberation.
विद्याविनयसंपन्ने ब्राह्मणे गवि हस्तिनि। शुनि चैव श्वपाके च पण्डिताः समदर्शिनः।।5.18।।
The wise see with equal vision a learned and humble brāhmaṇa, a cow, an elephant, a dog, and even a dog-eater.
इहैव तैर्जितः सर्गो येषां साम्ये स्थितं मनः। निर्दोषं हि समं ब्रह्म तस्माद्ब्रह्मणि ते स्थिताः।।5.19।।
Even here, those whose minds are established in equality have conquered birth; for Brahman is flawless and equal, therefore they abide in Brahman.
न प्रहृष्येत्प्रियं प्राप्य नोद्विजेत्प्राप्य चाप्रियम्। स्थिरबुद्धिरसम्मूढो ब्रह्मविद्ब्रह्मणि स्थितः।।5.20।।
One who knows Brahman, whose intellect is steady and undeluded, is not elated by obtaining the pleasant nor disturbed by the unpleasant, and is established in Brahman.
बाह्यस्पर्शेष्वसक्तात्मा विन्दत्यात्मनि यत्सुखम्। स ब्रह्मयोगयुक्तात्मा सुखमक्षयमश्नुते।।5.21।।
With the self unattached to external contacts, finding happiness within, that person, united with Brahman-yoga, attains imperishable happiness.
ये हि संस्पर्शजा भोगा दुःखयोनय एव ते। आद्यन्तवन्तः कौन्तेय न तेषु रमते बुधः।।5.22।।
Pleasures born of contact are indeed sources of pain, O son of Kunti; they have a beginning and an end, and the wise do not delight in them.
शक्नोतीहैव यः सोढुं प्राक्शरीरविमोक्षणात्। कामक्रोधोद्भवं वेगं स युक्तः स सुखी नरः।।5.23।।
Whoever is able, even here, before leaving the body, to withstand the force of desire and anger, that person is a yogi, a happy human.
योऽन्तःसुखोऽन्तरारामस्तथान्तर्ज्योतिरेव यः। स योगी ब्रह्मनिर्वाणं ब्रह्मभूतोऽधिगच्छति।।5.24।।
One whose happiness is within, whose delight is within, whose light is within, that yogi, having become Brahman, attains Brahman-nirvāṇa.
लभन्ते ब्रह्मनिर्वाणमृषयः क्षीणकल्मषाः। छिन्नद्वैधा यतात्मानः सर्वभूतहिते रताः।।5.25।।
The seers whose impurities are destroyed, whose doubts are cut off, whose minds are controlled, who delight in the welfare of all beings, attain Brahman-nirvāṇa.
कामक्रोधवियुक्तानां यतीनां यतचेतसाम्। अभितो ब्रह्मनिर्वाणं वर्तते विदितात्मनाम्।।5.26।।
For those renunciates who are free from desire and anger, whose minds are controlled and who know the self, Brahman-nirvāṇa exists all around.
स्पर्शान्कृत्वा बहिर्बाह्यांश्चक्षुश्चैवान्तरे भ्रुवोः। प्राणापानौ समौ कृत्वा नासाभ्यन्तरचारिणौ।।5.27।।
Having turned outward contacts outside, fixing the gaze between the eyebrows, making the in-breath and out-breath move equally within the nostrils—
यतेन्द्रियमनोबुद्धिर्मुनिर्मोक्षपरायणः। विगतेच्छाभयक्रोधो यः सदा मुक्त एव सः।।5.28।।
The sage whose senses, mind, and intellect are controlled, who is intent on liberation, free from desire, fear, and anger, is always liberated.
भोक्तारं यज्ञतपसां सर्वलोकमहेश्वरम्। सुहृदं सर्वभूतानां ज्ञात्वा मां शान्तिमृच्छति।।5.29।।
Knowing Me as the enjoyer of sacrifices and austerities, the great Lord of all worlds, and the friend of all beings, one attains peace.
श्री भगवानुवाच अनाश्रितः कर्मफलं कार्यं कर्म करोति यः। स संन्यासी च योगी च न निरग्निर्न चाक्रियः।।6.1।।
The Blessed Lord said: Whoever performs the required action without relying on the fruits of action, that person is a true renunciant and yogi, not one who has merely given up sacred fire or works.
यं संन्यासमिति प्राहुर्योगं तं विद्धि पाण्डव। न ह्यसंन्यस्तसङ्कल्पो योगी भवति कश्चन।।6.2।।
What is called renunciation, know that as yoga, O Pandava; for no one becomes a yogi without giving up desires and intentions.
आरुरुक्षोर्मुनेर्योगं कर्म कारणमुच्यते। योगारूढस्य तस्यैव शमः कारणमुच्यते।।6.3।।
For one aspiring to yoga, action is said to be the means; for one established in yoga, tranquility is said to be the means.
यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते। सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते।।6.4।।
When one is not attached to sense objects or actions, and has renounced all intentions, then he is said to be established in yoga.
उद्धरेदात्मनाऽऽत्मानं नात्मानमवसादयेत्। आत्मैव ह्यात्मनो बन्धुरात्मैव रिपुरात्मनः।।6.5।।
One should lift oneself by one's own self and not degrade oneself; for the self alone is one's friend, and the self alone is one's enemy.
बन्धुरात्माऽऽत्मनस्तस्य येनात्मैवात्मना जितः। अनात्मनस्तु शत्रुत्वे वर्तेतात्मैव शत्रुवत्।।6.6।।
For him whose self is conquered by the self, the self is a friend; but for one who is not self-controlled, the self acts as an enemy.
जितात्मनः प्रशान्तस्य परमात्मा समाहितः। शीतोष्णसुखदुःखेषु तथा मानापमानयोः।।6.7।।
For one who is self-controlled and peaceful, the Supreme Self is established; he remains the same in cold and heat, pleasure and pain, honor and dishonor.
ज्ञानविज्ञानतृप्तात्मा कूटस्थो विजितेन्द्रियः। युक्त इत्युच्यते योगी समलोष्टाश्मकाञ्चनः।।6.8।।
He whose mind is satisfied with knowledge and wisdom, who is steadfast, who has conquered the senses, is called a yogi, and is equal toward earth, stone, and gold.
सुहृन्मित्रार्युदासीनमध्यस्थद्वेष्यबन्धुषु। साधुष्वपि च पापेषु समबुद्धिर्विशिष्यते।।6.9।।
He who has equal understanding toward friends, companions, enemies, neutrals, mediators, the hateful, relatives, the virtuous and the sinful, is distinguished.
योगी युञ्जीत सततमात्मानं रहसि स्थितः। एकाकी यतचित्तात्मा निराशीरपरिग्रहः।।6.10।।
The yogi should always practice self-union, remaining alone in seclusion, with controlled mind and self, free from desires and possessions.
शुचौ देशे प्रतिष्ठाप्य स्थिरमासनमात्मनः। नात्युच्छ्रितं नातिनीचं चैलाजिनकुशोत्तरम्।।6.11।।
In a clean place, he should establish a firm seat for himself, not too high nor too low, with cloth, deer skin, and kusa grass as the foundation.
तत्रैकाग्रं मनः कृत्वा यतचित्तेन्द्रियक्रियः। उपविश्यासने युञ्ज्याद्योगमात्मविशुद्धये।।6.12।।
There, having made the mind one-pointed, with controlled thought and senses, he should sit on the seat and practice yoga for self-purification.
समं कायशिरोग्रीवं धारयन्नचलं स्थिरः। संप्रेक्ष्य नासिकाग्रं स्वं दिशश्चानवलोकयन्।।6.13।।
Holding the body, head, and neck straight and steady, gazing at the tip of his own nose, without looking in any direction.
प्रशान्तात्मा विगतभीर्ब्रह्मचारिव्रते स्थितः। मनः संयम्य मच्चित्तो युक्त आसीत मत्परः।।6.14।।
With a peaceful mind, free from fear, established in the vow of celibacy, controlling the mind, absorbed in Me, he should sit, devoted to Me.
युञ्जन्नेवं सदाऽऽत्मानं योगी नियतमानसः। शान्तिं निर्वाणपरमां मत्संस्थामधिगच्छति।।6.15।।
Thus, always practicing self-union, the yogi with controlled mind attains peace, supreme liberation, established in Me.
नात्यश्नतस्तु योगोऽस्ति न चैकान्तमनश्नतः। न चातिस्वप्नशीलस्य जाग्रतो नैव चार्जुन।।6.16।।
Yoga is not for one who eats too much, nor for one who abstains entirely; it is not for one who sleeps excessively, nor for one who is always awake, O Arjuna.
युक्ताहारविहारस्य युक्तचेष्टस्य कर्मसु। युक्तस्वप्नावबोधस्य योगो भवति दुःखहा।।6.17।।
For one who is moderate in eating and recreation, moderate in actions, moderate in sleep and waking, yoga destroys suffering.