samam kaya-siro-grivam dharayann achalam sthirah:। sampreksya nasikagram svam disas chanavalokayan॥ 6.13 ॥ prashantatma vigata-bhir brahmachari-vrate sthitah। manah samyamya mac-citto yukta asita mat-parah॥ 6.14 ॥

One should hold one’s body, neck and head erect in a straight line and stare steadily at the tip of the nose. Thus, with an un-agitated, subdued mind, devoid of fear, completely free from sex life, one should meditate upon Me within the heart and make Me the ultimate goal of life.

yunjann evam sadatmanam yogi niyata-manasah। shantim nirvana-paramam mat-samstham adhigacchati॥ 6.15 ॥

Thus practicing constant control of the body, mind and activities, the mystic transcendentalist, his mind regulated, attains to the kingdom of God [or the abode of Krishna] by cessation of material existence.

naty-asnatas ’tu yogo ’sti na chaikantam anasnatah। na chati-svapna-silasya jagrato naiva charjuna॥ 6.16 ॥

There is no possibility of one’s becoming a yogi, O Arjuna, if one eats too much or eats too little, sleeps too much or does not sleep enough.

yuktahara-viharasya yukta-cestasya karmasu। yukta-svapnavabodhasya yogo bhavati duhkha-ha॥ 6.17 ॥

He who is regulated in his habits of eating, sleeping, recreation and work can mitigate all material pains by practicing the yoga system.

yada viniyatam cittam atmany evavatisthate। nisprhah sarva-kamebhyo yukta ity ucyate tada॥ 6.18 ॥

When the yogi, by practice of yoga, disciplines his mental activities and becomes situated in transcendence—devoid of all material desires—he is said to be well established in yoga.