तं विद्याद् दुःखसंयोगवियोगं योगसंज्ञितम्।
स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा।।6.23।।
6.23. That he would realise to be the cause for [his] cessation of [his] contact with misery and to be the one made known by Yoga. With determination That is to be yoked in Yoga by a person of undepressed mind (or of the depressed mind).
6.20-23 Yatra etc. upto anirvinna-cetasa. Where the mind well restrained remains iet : i.e., on its own accord. Where he realises the limitless Bliss : Becuase the dirts created by the sense-objects are absent. Any other gain : the gain obtained through the close contacts with wealth. wives, childeren etc. The idea is : With regard to other objects, the notion of their being sources of pleasure disappears; and it is the nature of the thing in estion. Not shaken much : not shaken to a great extent; [hence] there is yet [a little] shaking in him, purely due to [former] mental impression; and it lasts only for a moment due to his compassion [towards all creatures], and not due to the wrong notions like Alas ! I am undone ! What is to done by me. and so on. That, due to which the cessation of contact with misery results-that must be yoked i.e., practised (concentrated upon) by all means, with determination i.e., with faith, born of the belief [in the Self]. Of undepressed mind. i.e., because the goal has been reached. Or of depressed mind : i.e., depressed that the birth-and-death-cycle is very firm and is full of misery. The means for abandoning desire is to abandon intention. This (the Lord) says :
Tam vidyaad duhkhasamyogaviyogam yogasamjnitam; Sa nishchayena yoktavyo yogo’nirvinna chetasaa.
tam—that; vidyāt—you should know; duḥkha-sanyoga-viyogam—state of severance from union with misery; yoga-saṁjñitam—is known as yog; saḥ—that; niśhchayena—resolutely; yoktavyaḥ—should be practiced; yogaḥ—yog; anirviṇṇa-chetasā—with an undeviating mind