असंयतात्मना योगो दुष्प्राप इति मे मतिः।
वश्यात्मना तु यतता शक्योऽवाप्तुमुपायतः।।6.36।।
6.36 My conviction is that Yoga is difficult to be attained by one of uncontrolled mind. But it is possible to be attained through the (above) means by one who strives and has a controlled mind.
6.36 Yoga is hard to attain even in spite of great efforts by one of unrestrained self, i.e., of unrestrained mind. But the same Yoga which is of the form of sameness of vision can be attained by proper means by one who is striving, whose mind is subdued, i.e., by one whose mind is conered by works (Karma Yoga) taught before, which is of the nature of My worship and which includes within itself knowledge (Jnana). Then Arjuna puts estions in order to hear the greatness of Yoga, as it really is, which he has already heard about at the beginning of the teaching, Here there is no loss of effort (2.40). There the greatness of Karma Yoga as inclusive of knowledge of the self with Yoga as its culmination was taught. This alone is the real greatness of Yoga.
Asamyataatmanaa yogo dushpraapa iti me matih; Vashyaatmanaa tu yatataa shakyo’vaaptumupaayatah.
asanyata-ātmanā—one whose mind is unbridled; yogaḥ—Yog; duṣhprāpaḥ—difficult to attain; iti—thus; me—my; matiḥ—opinion; vaśhya-ātmanā—by one whose mind is controlled; tu—but; yatatā—one who strives; śhakyaḥ—possible; avāptum—to achieve; upāyataḥ—by right means