Chapter 6आत्मसंयमयोगःDhyana Yoga (Atma-samyama Yoga)

The true renunciate and the ladder of yoga (6.1–6.4). One who does their duty without depending on the fruit is the renunciate and the yogi — not one who merely gives up the fire or gives up action (6.1). No one becomes a yogi without giving up self-willed intention (sankalpa) (6.2). For the one climbing, action is the means; for the one who has climbed, calm (6.3). When there is no clinging either to objects or to actions — then one has ascended to yoga (6.4).

The mind — friend and enemy (6.5–6.9). Lift yourself up by yourself, do not drag yourself down; you alone are your own friend, you alone your own enemy (6.5–6.6). The self-conquered stay even in cold and heat, pleasure and pain, honour and dishonour (6.7); content with knowledge and realisation, a clod of earth, a stone and gold are all one (6.8); even-minded towards friend and foe, saint and sinner alike (6.9).

The method of meditation (6.10–6.17). In solitude, alone, free of craving and possessions (6.10); a clean place, a steady seat, neither high nor low (6.11); with a one-pointed mind, for self-purification (6.12); body upright, gaze gentle (6.13); serene, fearless, restrained — mind fixed on Me (6.14); the peace whose summit is nirvana (6.15). Neither eating too much nor going hungry; neither sleeping too much nor staying awake (6.16); balanced food and recreation, work and sleep — yoga that destroys sorrow (6.17).

The experience of yoga (6.18–6.28). When the mind rests in the self — then one is steadfast (6.18); a lamp in a windless place (6.19); the mind at peace, content in the self (6.20); a happiness beyond the senses (6.21); no gain greater than that, and even heavy sorrow does not shake it (6.22); duḥkha-saṃyoga-viyoga is itself yoga — with determination and an undiscouraged mind (6.23). Give up desires born of imagination (6.24); little by little, with patience (6.25); wherever the mind runs, bring it back from there (6.26); the highest happiness for the peaceful mind (6.27); with ease, the happiness of contact with Brahman (6.28).

The self in all, the Lord in all (6.29–6.32). The self in all, all in the self (6.29); for one who sees Me in all, I am never lost from sight (6.30); in any condition, in Me (6.31); one who sees the joy and sorrow of all as their own — the highest yogi (6.32).

Arjuna's two questions (6.33–6.45). "The mind is as restless as the wind" (6.33–6.34) → "it is brought under control by practice and dispassion" (6.35–6.36). "What of one who strays midway?" (6.37–6.39) → "one who does good never comes to a bad end" (6.40); worlds of merit and a good home, or a family of yogis (6.41–6.42); the old understanding awakens (6.43); the old practice draws one on (6.44); perfected over many births, the supreme goal (6.45).

Conclusion (6.46–6.47). The yogi is greater than the ascetic, the scholar and the ritualist — "be a yogi" (6.46). And of all yogis the very best — the one who worships Me with faith, with a mind absorbed in Me (6.47).