Bhagavad Gita Chapter 6 Verse 23
भगवद् गीता अध्याय 6 श्लोक 23

तं विद्याद् दुःखसंयोगवियोगं योगसंज्ञितम्।
स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा।।6.23।।



English Translation - Swami Sivananda
6.23 Let that be known by the name of Yoga, the severance from union with pain. This Yoga should be practised with determination and with an undesponding mind.


English Translation of Sanskrit Commentary By Sri Shankaracharya's
6.23 Vidyat, one should know; tat, that; duhkha-samyoga-viyogam, severance (viyoga) of contact (samyoga) with sorrow (duhkha); to be verily yoga-sanjnitam, what is called Yoga-i.e. oen should know it through a negative definition.
After concluding the topic of the result of Yoga, the need for pursuing Yoga is again being spoken of in another way in order to enjoin preservance and freedom from depression as the disciplines for Yoga: Sah, that; yogah, Yoga, which has
the results as stated above; yoktavyah, has to be practised; niscayena, with perservance; and anirvinnacetasa, with an undepressed heart. That which is not (a) depressed (nirvinnam) is anirvinnam. What is that? The heart. (One has to practise Yoga) with that heart which is free from depression. This is the meaning.
Again,


Transliteration Bhagavad Gita 6.23Tam vidyaad duhkhasamyogaviyogam yogasamjnitam;
Sa nishchayena yoktavyo yogo’nirvinna chetasaa.


Word Meanings Bhagavad Gita 6.23tam—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