sankalpa-prabhavan kamams tyaktva sarvan asesatah। manasaivendriya-gramam viniyamya samantatah॥ 6.24 ॥

One should engage oneself in the practice of yoga with determination and faith and not be deviated from the path. One should abandon, without exception, all material desires born of mental speculation and thus control all the senses on all sides by the mind.

sanaih sanair uparamed buddhya dhrti-grhitaya। atma-samstham manah kritva na kincid api cintayet॥ 6.25 ॥

Gradually, step by step, one should become situated in trance by means of intelligence sustained by full conviction, and thus the mind should be fixed on the self alone and should think of nothing else.

yato yato nischalati manas chanchalam asthiram। tatas tato niyamyaitad atmany eva vasam nayet॥ 6.26 ॥

From wherever the mind wanders due to its flickering and unsteady nature, one must certainly withdraw it and bring it back under the control of the self.

prashanta-manasam hy enam yoginam sukham uttamam। upaiti santa-rajasam brahma-bhutam akalmasam॥ 6.27 ॥

The yogi whose mind is fixed on Me verily attains the highest perfection of transcendental happiness. He is beyond the mode of passion, he realizes his qualitative identity with the God, and thus he is freed from all reactions to past deeds.

yunjann evam sadatmanam yogi vigata-kalmasah। sukhena brahma-samsparsham atyantam sukham asnute॥ 6.28 ॥

Thus the self-controlled yogi, constantly engaged in yoga practice, becomes free from all material contamination and achieves the highest stage of perfect happiness in transcendental loving service to the Lord.

sarva-bhuta-stham atmanam sarva-bhutani chatmani। iksate yoga-yuktatma sarvatra sama-darshanah॥ 6.29 ॥

A true yogi observes Me in all beings and also sees every being in Me. Indeed, the self-realized human being sees Me, the same God Lord, everywhere.

yo mam pasyati sarvatra sarvam cha mayi pasyati। tasyaham na pranasyami sa cha me na pranasyati॥ 6.30 ॥

For one who sees Me everywhere and sees everything in Me, I am never lost, nor is he ever lost to Me.