yato yato niścalati
manaś cañcalam asthiram
tatas tato niyamyaitad
ātmany eva vaśaḿ nayet

Translation

From wherever the mind wanders due to its flickering and unsteady nature, one must certainly withdraw it and bring it back under the control of the self.

praśānta-manasaḿ hy enaḿ
yoginaḿ sukham uttamam
upaiti śānta-rajasaḿ
brahma-bhūtam akalmaṣam

Translation

The yogi whose mind is fixed on Me verily attains the highest perfection of transcendental happiness. He is beyond the mode of passion, he realizes his qualitative identity with the Supreme, and thus he is freed from all reactions to past deeds..

yuñjann evaḿ sadātmānaḿ
yogī vigata-kalmaṣaḥ
sukhena brahma-saḿsparśam
atyantaḿ sukham aśnute

Translation

Thus the self-controlled yogi, constantly engaged in yoga practice, becomes free from all material contamination and achieves the highest stage of perfect happiness in transcendental loving service to the Lord.

sarva-bhūta-stham ātmānaḿ
sarva-bhūtāni cātmani
īkṣate yoga-yuktātmā
sarvatra sama-darśanaḥ

Translation

A true yogi observes Me in all beings and also sees every being in Me. Indeed, the self-realized person sees Me, the same Supreme Lord, everywhere.

yo māḿ paśyati sarvatra
sarvaḿ ca mayi paśyati
tasyāhaḿ na praṇaśyāmi
sa ca me na praṇaśyati

Translation

For one who sees Me everywhere and sees everything in Me, I am never lost, nor is he ever lost to Me.

sarva-bhūta-sthitaḿ yo māḿ
bhajaty ekatvam āsthitaḥ
sarvathā vartamāno ’pi
sa yogī mayi vartate

Translation

Such a yogi, who engages in the worshipful service of the Supersoul, knowing that I and the Supersoul are one, remains always in Me in all circumstances.

ātmaupamyena sarvatra
samaḿ paśyati yo ’rjuna
sukhaḿ vā yadi vā duḥkhaḿ
sa yogī paramo mataḥ

Translation

He is a perfect yogi who, by comparison to his own self, sees the true equality of all beings, in both their happiness and their distress, O Arjuna!

arjuna uvāca
yo ’yaḿ yogas tvayā proktaḥ
sāmyena madhusūdana
etasyāhaḿ na paśyāmi
cañcalatvāt sthitiḿ sthirām

Translation

Arjuna said: O Madhusudana, the system of yoga which You have summarized appears impractical and unendurable to me, for the mind is restless and unsteady.

cañcalaḿ hi manaḥ kṛṣṇa
pramāthi balavad dṛḍham
tasyāhaḿ nigrahaḿ manye
vāyor iva su-duṣkaram

Translation

For the mind is restless, turbulent, obstinate and very strong, O Krishna, and to subdue it, I think, is more difficult than controlling the wind.

śrī-bhagavān uvāca
asaḿśayaḿ mahā-bāho
mano durnigrahaḿ calam
abhyāsena tu kaunteya
vairāgyeṇa ca gṛhyate

Translation

Lord Sri Krishna said: O mighty-armed son of Kunti, it is undoubtedly very difficult to curb the restless mind, but it is possible by suitable practice and by detachment.