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Bhagavadgeeta Verse 6.20, 6.21, 6.22, 6.23

यत्र उपरमतॆ चित्तं निरुद्धं यॊग सॆवया ।
यत्र च एव आत्मना आत्मानं पश्यन् आत्मनि तुष्यति ॥ ६.२० ॥

सुखम् आत्यन्तिकं यत् तत् बुद्धि ग्राह्यम् अतीन्द्रियम् ।
वॆत्ति यत्र न च एव अयं स्थितः चलति तत्त्वतः ॥ ६.२१ ॥

यं लब्ध्वा च अपरं लाभं मन्यतॆ न अधिकं ततः ।
यस्मिन् स्थितः न दुःखॆन गुरुणा अपि विचाल्यतॆ ॥ ६.२२ ॥

तं विद्यात् दुःख संयॊग वियॊगं यॊग संज्ञितम् ।
सः निश्चयॆन यः उक्तव्यः यॊगः अनिर्विण्णचॆतसः ॥ ६.२३ ॥

ಯತ್ರ ಉಪರಮತೇ ಚಿತ್ತಂ ನಿರುದ್ಧಂ ಯೋಗ ಸೇವಯಾ |
ಯತ್ರ ಚ ಏವ ಆತ್ಮನಾ ಆತ್ಮಾನಂ ಪಶ್ಯನ್ ಆತ್ಮನಿ ತುಷ್ಯತಿ || ೬.೨೦ ||

ಸುಖಮ್ ಆತ್ಯಂತಿಕಂ ಯತ್ ತತ್ ಬುದ್ಧಿ ಗ್ರಾಹ್ಯಮ್ ಅತೀಂದ್ರಿಯಮ್ |
ವೇತ್ತಿ ಯತ್ರ ನ ಚ ಏವ ಅಯಂ ಸ್ಥಿತಃ ಚಲತಿ ತತ್ತ್ವತಃ || ೬.೨೧ ||

ಯಂ ಲಬ್ಧ್ವಾ ಚ ಅಪರಂ ಲಾಭಂ ಮನ್ಯತೇ ನ ಅಧಿಕಂ ತತಃ |
ಯಸ್ಮಿನ್ ಸ್ಥಿತಃ ನ ದುಃಖೇನ ಗುರುಣಾ ಅಪಿ ವಿಚಾಲ್ಯತೇ || ೬.೨೨ ||

ತಂ ವಿದ್ಯಾತ್ ದುಃಖ ಸಂಯೋಗ ವಿಯೋಗಂ ಯೋಗ ಸಂಜ್ಞಿತಮ್ |
ಸಃ ನಿಶ್ಚಯೇನ ಯಃ ಉಕ್ತವ್ಯಃ ಯೋಗಃ ಅನಿರ್ವಿಣ್ಣಚೇತಸಃ || ೬.೨೩ ||

yatra uparamatE chittaM niruddhaM yOga sEvayA |
yatra cha eva AtmanA AtmAnaM pashyan Atmani tuShyati || 6.20 ||

sukham AtyantikaM yat tat buddhi grAhyam ateendriyam |
vEtti yatra na cha eva ayaM sthitaH chalati tattvataH || 6.21 ||

yaM labdhvA cha aparaM lAbhaM manyatE na adhikaM tataH |
yasmin sthitaH na duHkhEna guruNA api vichAlyatE || 6.22 ||

taM vidyAt duHkha saMyOga viyOgaM yOga saMj~jitam |
saH nishchayEna yaH uktavyaH yOgaH anirviNNachEtasaH || 6.23 ||

That state in which the mind, restrained by the practice of yoga withdraws itself from external activities, and in which the person sees the Lord through the mind and is satisfied within himself;

That state in which he finds that supreme happiness which is perceived in self experience, and is beyond the senses, and he does not stray from the truth;

That state having attained, which he does not regard any other gain to be superior to it, and being established in which he is not shaken by misery, however great it be;

Know that state to be what is called Yoga, whence results redemption from coming into misery; such yoga is certainly to be practised by one seeking release, with a mind that has felt disgust for worldly objects.

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