yatha dipo nivata-stho nengate sopama smrta। yogino yata-cittasya yunjato yogam atmanah॥ 6.19 ॥

As a lamp in a windless place does not waver, so the transcendentalist, whose mind is controlled, remains always steady in his meditation on the transcendent self.

yatroparamate cittam niruddham yoga-sevaya। yatra chaivatmanatmanam pasyann atmani tusyati॥ 6.20 ॥ sukham atyantikam yat tad buddhi-grahyam atindriyam। vetti yatra na chaivayam sthitas chalati tattvatah॥ 6.21 ॥

In the stage of perfection called trance, or Samadhi, one’s mind is completely restrained from material mental activities by practice of yoga. This perfection is characterized by one’s ability to see the self by the pure mind and to relish and rejoice in the self. In that joyous state, one is situated in boundless transcendental happiness, realized through transcendental senses.

yam labdhva chaparam labham manyate nadhikam tatah:। yasmin sthito na duhkhena gurunapi vichalyate॥ 6.22 ॥ tam vidyad duhkha-samyoga- viyogam yoga-samjnitam। sa nischayena yoktavyo yogo ’nirvinna-cetasa ॥ 6.23 ॥

Established thus, one never departs from the truth, and upon gaining this he thinks there is no greater gain. Being situated in such a position, one is never shaken, even in the midst of greatest difficulty. This indeed is actual freedom from all miseries arising from material contact.