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Bhagavadgeeta Verse 6.11, 6.12

शुचौ दॆशॆ प्रतिष्ठाप्य स्थिरम् आसनम् आत्मनः ।
न अति उछ्रितं न अति नीचं चैल अजिन कुश उत्तरम् ॥ ६.११ ॥

तत्र एकाग्रं मनः कृत्वा यतचित्त इन्द्रिय क्रियः ।
उपविश्य आसनॆ युञ्ज्यात् यॊगम् आत्म विशुद्धयॆ ॥ ६.१२ ॥

ಶುಚೌ ದೇಶೇ ಪ್ರತಿಷ್ಠಾಪ್ಯ ಸ್ಥಿರಮ್ ಆಸನಮ್ ಆತ್ಮನಃ |
ನ ಅತಿ ಉಛ್ರಿತಂ ನ ಅತಿ ನೀಚಂ ಚೈಲ ಅಜಿನ ಕುಶ ಉತ್ತರಮ್ || ೬.೧೧ ||

ತತ್ರ ಏಕಾಗ್ರಂ ಮನಃ ಕೃತ್ವಾ ಯತಚಿತ್ತ ಇಂದ್ರಿಯ ಕ್ರಿಯಃ |
ಉಪವಿಶ್ಯ ಆಸನೇ ಯುಂಜ್ಯಾತ್ ಯೋಗಮ್ ಆತ್ಮ ವಿಶುದ್ಧಯೇ || ೬.೧೨ ||

shuchau dEshE pratiShThApya sthiram Asanam AtmanaH |
na ati uChritaM na ati neechaM chaila ajina kusha uttaram || 6.11 ||

tatra ekAgraM manaH kRutvA yatachitta indriya kriyaH |
upavishya AsanE yu~jjyAt yOgam Atma vishuddhayE || 6.12 ||

In some hallowed spot (any place that can promote the serenity of the mind), having for himself adopted a firm seat which is neither too high nor too low, made of cloth, deer skin and darbha grass spread one over the other;
On such a seat having sat down, and restrained the functions of mind and other organs, and devoted the mind to the Paramatman, one should practise yoga for the purification of the mind (for cleansing the mind of all passions so as to make it fit for intense devotion or for cleansing the self of all evils of samsAra.

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