20-23. When the mind, absolutely restrained by the practice of concentration, attains quietude, and when seeing the Self by the self, one is satisfied in his own Self; when he feels that infinite bliss—which is perceived by the purified intellect and which transcends the senses, and established wherein he never departs from his real state; and having obtained which, regards no other acquisition superior to that, and where established, he is not moved even by heavy sorrow—let that be known as the state, called by the name of Yoga—a state of severance from the contact of pain. This Yoga should be practiced with perseverance, undisturbed by depression of heart.
24. Abandoning without reserve all desires born of Sankalpa, and completely restraining, by the mind alone, the whole group of senses from their objects in all directions;
25. With the intellect set in patience, with the mind fastened on the Self, let him attain quietude by degrees: let him not think of anything.
26. Through whatever reason the restless, unsteady mind wanders away, let him curbing it from that, bring it under the subjugation of the Self alone.
27. Verily, the supreme bliss comes to that Yogi, of perfectly tranquil mind, with passions quieted, Brahman-become, and freed from taint.
28. The Yogi freed from taint of good and evil, constantly engaging the mind thus, with ease attains the infinite bliss of contact with Brahman.
29. With the heart concentrated by Yoga, with the eye of evenness for all things, he beholds the Self in all beings and all beings in the Self.
30. He who sees Me in all things, and sees all things in Me, he never becomes separated from Me, nor do I become separated from him.
31. He who being established in unity, worships Me, who am dwelling in all beings, whatever his mode of life, that Yogi abides in Me.
32. He who judges of pleasure or pain everywhere, by the same standard as he applies to himself, that Yogi, O Arjuna, is regarded as the highest.
—Bhagavad Gita, 6:20-32
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