Bhagavad Gita · Dhyana Yoga (Atma-samyama Yoga)Chapter 6, Shloka 23 (6.23)
Original Sanskrit · श्रीभगवान्
तं विद्याद् दुःखसंयोगवियोगं योगसंज्ञितम्
स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा
॥ 6.23 ॥
taṃ vidyād duḥkhasaṃyogaviyogaṃ yogasaṃjñitam
sa niścayena yoktavyo yogo'nirviṇṇacetasā
Translation
"Disconnection from union with sorrow — know this by the name of 'yoga'. That yoga should be practised with firm determination and an undiscouraged mind."
Interpretation
A marvel of words. "Yoga" means joining; Krishna says — true yoga is the breaking of the joint with sorrow. Shankara calls this naming viparīta-lakṣaṇena — "by an opposite sense".
Shankaracharya. Duḥkhaiḥ saṃyogaḥ duḥkha-saṃyogaḥ tena viyogaḥ … yoga ity eva saṃjñitaṃ viparīta-lakṣaṇena vidyāt. Then: yoga-phalam upasaṃhṛtya punar anvārambheṇa yogasya kartavyatā ucyate niścayānirvedayoḥ yoga-sādhanatva-vidhānārtham — having summed up the fruit of yoga, the duty of yoga is stated again in order to establish determination and anirveda (not losing heart) as means.
Acharya Ramanuja. Duḥkha-saṃyoga-pratyanīkākāraṃ yoga-śabdābhidheyaṃ jñānaṃ vidyāt — know the knowledge called "yoga" as opposed to union with sorrow; ārambha-daśāyāṃ niścayena anirviṇṇa-cetasā hṛṣṭa-cetasā yogo yoktavyaḥ — in the beginning stage, yoga should be practised with determination and a joyful mind.
The difference: Ramanuja reads "anirviṇṇa" positively — hṛṣṭa-cetasā (with a glad mind) — and says it especially of the beginning.
AI-assisted draft translation — under review.