Nihspruhah sarva kamebyo yuktha ithi uchchyathe tadha || 6.18 ||
"When the perfectly controlled mind rests in the Self only, free from longing for all (objects of) desire, then it is said: "he is united" (YUKTAH) ."
Yatha deepo nivathastho nengathe sopamasmrutha |
Yogino yatha chittasya yunjatho yagam atmanah || 6.19 ||
" As a lamp placed in a windless place does not flicker" --- is a simile used to describe the YOGI of controlled-mind, practising YOGA of the Self (or absorbed in th e YOGA -of-the-Self) .
Yatroparamate chittam niruddham yogasevaya |
Yatra chaiva atman atmaanam pasyan atmani tushtathi || 6.20 ||
"When the mind, restrained by the practice of YOGA, attains quietude and when seeing the Self by the self, he is satisfied in his own Self;"
Sukham athyanthikam yaththath buddhi grahyam athindriyam |
Veththi yatra na chaivayam sthitashchalathi taththvanthah || 6.21 ||
"When he (the YOGI ) feels that Infinite bliss --- which can be grasped by the (pure) intellect and which transcends the senses --- wherein established he never moves from the Reality;"
Yam labdhva chaparam labham manyathe na adhikam tatah |
Yasmimsthitho na dhukhena gurunapi vichalyathe || 6.22 ||
"Which, having obtained, he thinks there is no other gain superior to it; wherein established, he is not moved even by heavy sorrow."
Tam vidhyah dhukha samyoga viyogam yogasamjitham |
Sa nishchayena yuktavvyo yogoh nirvinana chethasa || 6.23 ||
" Let it be known: the severance from the union-with-pain is YOGA. This YOGA should be practised with determination and with a mind steady and undespairing."
Sankalpa prabhavaan kamamsthyaktva sarvaanasheshathah |
Manassaivendriya gramam viniyamya samam tathah || 6.24 ||
"Abandoning without reserve all desires born of SANKALPA, and completely restraining the whole group of senses by the mind from all sides."
Shanaishanairuparame udhbudhdhya dhruthi gruhitaya |
Atmasanstam manah krutwa na kinchith api chinthayeth || 6.25 ||
"Little by little, let him attain quietude by his intellect, held firm; having made the mind established in the Self, let him not think of anything."
Yatho yatho nishcharathi manah chanchalam asthiram |
Tathah tatho niyamaith atmanaiva vasham nayeth || 6.26 ||
"From whatever cause the restless and the unsteady mind wanders away, from that let him restrain it, and bring it back under the control of the Self alone."
My understanding:
The mind which is perfectly controlled, is not interested in type of enjoyment. It is only established in Self. Thus any person having such type of mind is named as Yogi. He is free from all longing behind desires of enjoyment. He always rests only in Bhrahman. Here desires in themselves are not dangerous and actually they will not bring sorrow unto us. But our clinging to those desires brings the pain in the life. The Geetha only advises us to renounce yearnings for all objects of desires. The limited and finite sense-objects, agitate the mind, while the unlimited and infinite Self brings peace and joy into it.
Thus for a Yogi, any type of attractions in the world, can not attract him, in any ways. His mind is like a lamp of Light, which is placed in a windless place. It will not get flickered. Here, the example of flame is appropriate because, mind is also fickle and unsteady like a tip of the flame. Thoughts appear in the mind, every second like a continuous stream, and these constant thought distrurbances gives the apprehension of a solid factor called the mind. Similarly, the tip of the flame also is never constant, but the flickering is so fast that, it gives the illusion of a definite shape and solidity.
When this flame is protected from the wind, it becomes steady. In the same fashion, the mind should be protected from the constant flowing thoughts. If this is accomplished by an individual, then such an individual is called Yogi, and he has a fully integrated personality.
For such a person, what would be the Stages of progress accomplished? This is described below.
When the mind is under control, because of constant Yoga-Practices, then it sees self by the self and attains peace and bliss in its own self. In that silence it gains the experience of the 'self'. so he is satisfied in his own self.
This Bliss of Self recognition is perceivable only through the pure intellect. When he feels that infinite bliss, by controlling/transcending the senses, he never moves back from reality. He rests in reality. He never gets disturbed in the world.
When he attains this state, he thinks that, there is no other thing to gain superior than this. When he established in this state, he never get disturbed by any type of sorrow and sufferings.
Thus one should know that, "This method of separating from the union with the pain is called Yoga". This Yoga should be practiced with determination and steady mind. To get detached from the mechanism of perceptions, feelings and thoughts, would naturally be the total detachment from the pain. Krishna here insists, "The yoga is to be practiced with an Eager and Decisive Mind". To get away from the limited objects and their joys, one have to enter the realm of Bliss which is the Self. This is the Yoga.
Krishna further gives some instructions regarding Yoga are explained here.
Renouncing the all desires fully by the mind, one can control all the sense-organs from their sense-objects. Even the desire for this perfection in the Yoga, is to be, in end, totally renounced. Once this this renounciation of all disturbing desires has been accomplished, the individual's mind gains strength, to assert itself. When the seeker attains quietude as a result of his withdrawal from the world of sense-objects, slowly, the mind gains more and more quietude.
With the pure intellect and patience, the mind is to be controlled and rested in the contemplation of the 'Self'. The mind is "Thought-Flow', therefore the constant thought of the Nature of the 'Self' is to be exercise for the mind, by which mind should be restrained by the intellect. He should not think of any other thing other than 'self', when once he has reached this state of peace within.
The mind is, by its very nature, "restless" and "unsteady". Every seeker realize this nature of mind, when it wanders away from the point. So Krishna instructs here that, "whatever be the reason because of which the restless and unsteady mind wanders away, the seeker is not to despair, but should understand that it is the nature of the mind to wander, and that the process of mediation is only a technique to stop wandering. Then he should bring his mind back under the control of self alone. His mind should be applied in the contemplation of the self alone. "
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