taṁ vidyād duḥkha-sanyoga-viyogaṁ yogasaṅjñitam
sa niśhchayena yoktavyo yogo ’nirviṇṇa-chetasā||23||

Meaning : One should know that separation from contact with suffering is called Yoga. That Yoga should be practiced with firm determination and an unwavering, undiscouraged mind.