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Bhagavad Gita Chapter 6 Verse 4

भगवद् गीता अध्याय 6 श्लोक 4

यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते।
सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते।।6.4।।

हिंदी अनुवाद - स्वामी रामसुख दास जी ( भगवद् गीता 6.4)

।।6.4।।जिस समय न इन्द्रियोंके भोगोंमें तथा न कर्मोंमें ही आसक्त होता है उस समय वह सम्पूर्ण संकल्पोंका त्यागी मनुष्य योगारूढ़ कहा जाता है।

Shri Vaishnava Sampradaya - Commentary

Lord Krishna uses the compound word yogarudhas which is an adept in dhyana yoga or the science of the individual consciousness attaining communion with the ultimate consciousness by meditation. Such a person from experiencing the sublime bliss of the atma or soul within has ceased to be infatuated by sensual objects and is no longer deluded by the impulses of the senses in relation to such sense objects. The words na anusajjate meaning not enamoured denotes that one is no longer under the influence of such delusions. One is yogarudhas who has abandoned all illusions and false conceptions. Thus for the aspirant of moksa or liberation from material existence who still is under the sway of infatuation and delusion there is no alternative but to perform karma yoga or prescribed Vedic activities as the means to relinquish oneself from from dross of bodily association and carnal desires. This being accomplished one has qualified themselves for dhyana yoga and can begin to perfect their meditation. Hence as warning, before this point it is recommended to exclusively perform karma yoga until completely free from the infatuation of desires and sense objects.