यत्रोपरमते चित्तं निरुद्धं योगसेवया।
यत्र चैवात्मनाऽऽत्मानं पश्यन्नात्मनि तुष्यति।।6.20।।
6.20 At the time when the mind restrained through the practice of Yoga gets withdrawn, and just when by seeing the Self by the self one remains contented in the Self alone [A.G. construes the word eva (certainly) with tusyati (remains contented).-Tr.];
6.20 - 6.23 Where, through the practice of Yoga, the mind, which is subdued everywhere by such practice, rejoices, i.e., rejoices in surpassing felicity; and where, perceiving through Yoga the self (Atman) by the mind (Atman) one is delighted by the self and indifferent to all other objects; and where, through Yoga, one knows, i.e., experiences that infinite happiness which can be grasped only by the intellect contemplating on the self, but is beyond the grasp of the senses; where, remaining in that Yoga, one does not swerve from that state, because of the overwhelming happiness that state confers; having gained which, he desires for it alone, even when he is awakened from Yoga, and does not hold anything else as a gain; where one is not moved even by the heaviest sorrow caused by any berevaement like that of a virtuous son - let him know that disunion from all union with pain, i.e., which forms the opposite of union with pain, is called by the term Yoga. This Yoga must be practised with the determination of its nature as such from the beginning with a mind free from despondency, i.e., with zestful exaltation.
Yatroparamate chittam niruddham yogasevayaa; Yatra chaivaatmanaa’tmaanam pashyannaatmani tushyati.
yatra—when; uparamate—rejoice inner joy; chittam—the mind; niruddham—restrained; yoga-sevayā—by the practice of yog; yatra—when; cha—and; eva—certainly; ātmanā—through the purified mind; ātmānam—the soul; paśhyan—behold; ātmani—in the self; tuṣhyati—is satisfied