asaṅyatātmanā yogo duṣhprāpa iti me matiḥ
vaśhyātmanā tu yatatā śhakyo ’vāptum upāyataḥ||36||

Meaning : My understanding is that yoga is difficult to attain with an uncontrolled mind, but with a disciplined and controlled mind, it is possible to achieve through persistent effort.

śhrī bhagavān uvācha
asanśhayaṁ mahā-bāho mano durnigrahaṁ chalam
abhyāsena tu kaunteya vairāgyeṇa cha gṛihyate||35||

Meaning : Sri Krishna said:
O mighty-armed Arjuna, the mind is indeed restless and difficult to control, but it can be controlled by constant practice and detachment.

chañchalaṁ hi manaḥ kṛiṣhṇa pramāthi balavad dṛiḍham
tasyāhaṁ nigrahaṁ manye vāyor iva su-duṣhkaram||34||

Meaning : O Krishna, the mind is indeed restless, powerful, and difficult to control. I consider restraining it to be as hard as controlling the wind.

arjuna uvācha
yo ’yaṁ yogas tvayā proktaḥ sāmyena madhusūdana
etasyāhaṁ na paśhyāmi chañchalatvāt sthitiṁ sthirām||33||

Meaning : O Madhusūdana, the yoga you have described as equality (sāmyena), I do not see it as steady and firm because my mind remains restless and unsettled.

ātmaupamyena sarvatra samaṁ paśhyati yo ’rjuna
sukhaṁ vā yadi vā duḥkhaṁ sa yogī paramo mataḥ||32||

Meaning : O Arjuna, the person who sees pleasure and pain, as well as happiness and suffering everywhere, as equal to the Self within, is regarded as the highest yogi.

sarva-bhūta-sthitaṁ yo māṁ bhajatyekatvam āsthitaḥ
sarvathā vartamāno ’pi sa yogī mayi vartate||31||

Meaning : The yogi who worships Me, the Self present in all beings, and is firmly established in the oneness of all, even while living and acting in the world, remains always united with Me.

yo māṁ paśhyati sarvatra sarvaṁ cha mayi paśhyati
tasyāhaṁ na praṇaśhyāmi sa cha me na praṇaśhyati||30||

Meaning : The ultimate union between the devotee and the Divine. When a yogi or seeker sees God in all beings and sees all beings as existing in God, there is no longer any separation. That person never loses connection with the Divine, and the Divine is never distant from them. This is the heart of non-dual vision where love, awareness, and unity dissolve all boundaries.

sarva-bhūta-stham ātmānaṁ sarva-bhūtāni chātmani
īkṣhate yoga-yuktātmā sarvatra sama-darśhanaḥ||29||

Meaning : Through steady yoga practice, their awareness expands. They no longer see separate egos and bodies, but perceive the One Self (ātmā) that resides equally in all creatures (sarva-bhūta-stham), and also realize that all living beings exist within that same Self (sarva-bhūtāni chātmani). This leads to equal vision, where the yogi sees all beings — friend, enemy, rich, poor — with the same spiritual respect and compassion, as manifestations of the Divine.

yuñjann evaṁ sadātmānaṁ yogī vigata-kalmaṣhaḥ
sukhena brahma-sansparśham atyantaṁ sukham aśhnute||28||

Meaning : When a yogi consistently focuses inward , and purifies the heart from all negativity , they begin to feel a deep inner connection to Brahman the divine, eternal truth. This contact with the Supreme is not forced or strained it is effortless, natural. And the happiness it brings is not ordinary; it is the ultimate, boundless joy that transcends the senses.

yato yato niśhcharati manaśh chañchalam asthiram
tatas tato niyamyaitad ātmanyeva vaśhaṁ nayet||26||                 

praśhānta-manasaṁ hyenaṁ yoginaṁ sukham uttamam
upaiti śhānta-rajasaṁ brahma-bhūtam akalmaṣham||27||

Meaning : Whenever and wherever the restless and unsteady mind wanders,
one should bring it back under control and steadily direct it to the Self. The yogi whose mind is calm and peaceful,whose restless passions have been quieted, who is free from all impurities and fully realized in the Self (Brahman), attains supreme and lasting happiness.