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In this chapter, Shri Krishna continues the description of karm you and karma sanyas. He continues telling Arjun that karm yogis far more practical and convenient for people than karm sanyas. With karm you, a person emerges in devotion and then into God, which increases the chance of spiritual realization. The mind becomes pure, and he controls all his senses well without severe austerities like in karm sanyas.
Shri Krishna then also goes about yog sādhanā, which unites the mind with God. he explains how a person or Sadhak should focus his mind on God while meditating. He also says that it is difficult to control the mind, but with practice and detachment, it is possible. Whenever the mind wanders away, take it back to focus on God, and gradually you will go into Samadhi state where you feel infinite divine bliss.
Arjun then asks Krishna what happens to those who begin their spiritual journeys but can't complete them due to their uncontrolled minds. Krishna says that God keeps an account of everyone and helps them to begin and achieve their spiritual goals based on their merits. So the one who has done some spiritual work in the past will be reawakened to follow the same path in the next life from the point he had left off. Thus the merits of previous life add up to the next life, and the yogi again begins their journey from where he left.
The Lord then concludes the chapter with the declaration that a yogi is superior to everyone, a tapasvī (ascetic), the jñānī (person of learning), and the karmī (ritualistic performer). However, one who engages in the devotion of God or Bhakti is superior to all, even the yogi.
The Supreme Lord said: those who perform their duties while detaching themselves from the results are the true yogis and sanyasis. No one becomes a yogi until he gives up all worldly desires.
When a person doesn't attach himself with the senses or actions, he progresses in yog; such person has sacrificed the result of all his effort.
You need to use the power of your mind by controlling him and not getting under his control. The mind can be your best friend or your worst enemy.
The yogis who have learned the power of a controlled mind and who have controlled their minds well are above any world's dualities. Such yogis do not know sorrow, happiness, cold, heat, honor, dishonor; they receive the ultimate bliss from the divine enlightenment.
These yogis have gained divine knowledge, and hence they have defeated all their senses, and their mind is no their enemy. Such yogis see even dirt equal to gold and gold equal to dirt.
The yogis treat everyone equally, from their well-wishers to the worst sinners. Such yogi receives the ability to see everyone equally and treats everyone neutral; for him, no one is special, and no one is poor.
Those who want to experience the state of yog put themselves in isolation. They constantly meditate to control the mind and get rid of worldly desires.
To practice yoga, one should find a peaceful and sanctified place and get an Asian. For asan, one can use kuśh grass, deerskin, and a cloth, one over the other.
Seat firmly on it and prepare your mind for meditation. Bring your concertation one point, and it will help to control all the thoughts and distractions. Hold your whole body firmly, such as your neck, head, and body, in a straight line. You can bring your gaze to the tip of your nose and don't let your eyes wander even when closed.
Practice it in a serene environment and try to keep an unwavering mind. A devotee should meditate on me and me, only keeping me as the supreme goal.
Keep the mind absorbed in me, and a true devotee will attain nirvana and lives in me with infinite peace.
O Arjun, those who eat in moderation and establish balance in their work while getting just enough sleep can successfully walk the path of yog. All these habits bring discipline in life, and hence they learn to withdraw the mind from all the worldly cravings. Such a person sets himself right for you and controls all senses.
The yogi's mind remains still and doesn't flicker, just like a lamp doesn't flicker in a windless place.
When a yogi controls his mind and senses, he attains a purified mind and experiences inner joy. This joyous state is called Samadhi, where one experiences the supreme and enjoys the taste of eternal truth.
Once a soul has gained such a state, it remains unaffected; even the greatest calamities can't break its focus.
During the meditation, the mind will wander; one must bring it back again and again until it settles down, and that happens with continuity and devotion toward God.
Great yogis experience divine bliss forever, they have a calm mind, their desires are subdued, and they see everything having a connection with God.
Such yogi who has united with God finds himself free from every worldly attraction. Once he is in touch with the Supreme, he desires nothing but God and remains in the highest state of happiness.
The yogi sees God everywhere and see God in everything. For those yogis, I am never lost, and nor are they lost to me.
I favor them to be the perfect yogis who can see everyone equally and feel all the joy and sorrow of the living beings as their own.
Arjun said: after listening to all the words of Krishna, Arjun expresses that how helpless he is. He says, O Madhusudan, the Yog system you defined seems impractical due to my restless mind.
O Krishna, the mind is so strong and turbulent that it appears impossible to tame and control it.
Lord Krishna said: O mighty-armed son of Kunti, the mind might seem impossible to control; however, it is possible with discipline and regular practice. When you start practicing detachment, mind control is possible.
Arjun said: Arjun then asks Shri Krishna that what happens with the yogis who begin their spiritual path but can't complete it due to their unsteady minds?
Does such a person become deprived of spiritual and worldly success and stays like a broken cloud with no space to stay?
O Krishna, please help me with your doubt!
The Supreme Lord said: O Parth, one who begins his spiritual journey can't meet destruction, and he can't be left behind. One who starts his life to realize God can never be overcome by evil.
The yogis who can't complete their spiritual target go to the abodes of virtue and live there for many ages until they again take birth on Earth to complete their spiritual target. Such people get a birth in a pious family where people are prosperous already and motivate you to walk on the path of devotion.
When a yogi takes birth in such a family, their wisdom from the past life reawakens, and they again start walking on the path of devotion with more perfectionism.
They naturally feel drawn toward God as their strength of discipline from the past life doesn't leave them. Such yogis, based using their merits of past life, again begin their journey to get purified and control their mind and all senses to attain the perfect state of bliss and peace.