Mahabharata · Chapter 6.30

anāśritaḥ karmaphalaṃ kāryaṃ karma karoti yaḥ /
sa sannyāsī ca yogī ca na niragnirna cākriyaḥ //

yaṃ sannyāsamiti prāhuryogaṃ taṃ viddhi pāṇḍava /
na hyasannyastasinkalpo yogī bhavati kaścana //

ārurukṣormuneryogaṃ karma kāraṇamucyate /
yogārūḍhasya tasyaiva śamaḥ kāraṇamucyate //

yadā hi nendriyārtheṣu na karmasvanuṣañjate /
sarvasankalpasannyāsī yogārūḍhastadocyate //

uddharedātmanātmānaṃ nātmānamavasādayet /
ātmaiva hyātmano bandhurātmaiva ripurātmanaḥ //

bandhurātmā'tmanastasya yenātmaivātmanā jitaḥ /
anātmanastu śatrutve vartetātmaiva śatruvat //

jitātmanaḥ praśāntasya paramātmā samāhitaḥ /
śītoṣṇasukhaduḥkheṣu tathā mānāpamānayoḥ //

jñānavijñānatṛptātmā kūṭastho vijitendriyaḥ /
yukta ityucyate yogī samaloṣṭhāśmakāñcanaḥ //

suhṛnmitrāryudāsīnamadhyasthadveṣyabandhuṣu /
sādhuṣvapi ca pāpeṣu samabuddhirviśiṣyate //

yogī yuñjīta satatamātmānaṃ rahasi sthitaḥ /
ekākī yatacittātmā nirāśīraparigrahaḥ //

śucau deśe pratiṣṭhāpya sthiramāsanamātmanaḥ /
nātyucchritaṃ nātinīcaṃ cailājinakuśottaram //

tatraikāgraṃ manaḥ kṛtvā yatacittendriyakriyaḥ /
upaviśyāsane yuñjyādyogamātmaviśuddhaye //

samaṃ kāyaśirogrīvaṃ dhārayannacalaṃ sthiraḥ /
samprekṣya nāsikāgraṃ svaṃ diśaścānavalokathan //

praśāntātmā vigatabhīrbrahmacārivrate sthitaḥ /
pranaḥ saṃyamya maccitto yukta āsīta matparaḥ //

yuñjannevaṃ sadātmānaṃ yogī niyatamānasaḥ /
śāntiṃ nirvāṇaparamāṃ matsaṃsthāmadhigacchati //

nātyaśratastu yogo'sti na caikāntamanaśnataḥ /
na cātisvapraśīlasya jāgrato naiva cārjuna //

yuktāhāravihārasya yuktaceṣṭasya karmasu /
yuktasvapnāvavodhasya yogo bhavati duḥkhahā //

yadā viniyataṃ cittamātmanyevāvatiṣṭhate /
nispṛhaḥ sarvakāmebhyo yukta ityucyate tadā //

yathā dīpo nivātastho neṅgate sopamā smṛtā /
yogino yatacittasya yuñjato yogamātmanaḥ //

yatroparamate cittaṃ niruddhaṃ yogasevayā /
yatra caivātmanātmānaṃ paśyannātmani tuṣyati //

mukhamātyantikaṃ yattadvuddhigrāhyamatīndriyam /
vetti yatra na caivāyaṃ sthitaścalati tattvataḥ //

yaṃ labdhvā cāparaṃ lābhaṃ manyate nādhikaṃ tataḥ /
yasminsthito na duḥkhena guruṇāpi vicālyate //

taṃ vidyādduḥkhasaṃyogavayogaṃ yogasañjñitam /
sa niścayena yoktavyo yogo'nirviṇṇacetasā //

sankalpaprabhavānkāmāṃstyaktvā sarvānaśeṣataḥ /
manasaivendriyagrāmaṃ vinivamya samantataḥ //

śanaiḥ śanairuparamedbhuddhyā dhṛtigṛhītayā /
ātmasaṃsthaṃ manaḥ kṛtvā na kiñcidapi cintayet //

yato yato niścarati manaścañcalamasthiram /
tatastato niyamyaitadātmanyeva vaśaṃ nayet //

praśāntamanasaṃ hyenaṃ yoginaṃ mukhamuttamam /
upaiti ścāntarajasaṃ brahmabhūtamakalmaṣam //

yuñcayevaṃ sadātmānaṃ yogī vimatakalmaṣaḥka /
mukhena brahmasaṃskaparśamatyantaṃ sukhamaśrute //

sarvabhūtasthamātmānaṃ sarvabhūtāni cātmani /
īkṣate kayogayuktātmā sarvatra samadarśanaḥ //

yo māṃ paśyati sarvatra sarvaṃ ca mayi paśyati /
tasyāhaṃ na praṇaśyāmi sa ca me na praṇaśyati //

sarvabhūtasthitaṃ yo māṃ bhajatyekatvamāsthitaḥ /
sarvathā vartamāno'pi sa yogī mayi vartate //

ātmaupamyena sarvatra samaṃ paśyati yo'rjuna /
sukhanka vā yadi vā duḥkhaṃ sa yogī maramo mataḥ //
arjuna uvāca /

yo'yaṃ yogastvayā proktaḥ sāmyena madhusūdana /
etasyāhaṃ na paśyāmi cañcalatvātsthitiṃ sthirāṃ //

cañcalaṃ hi manaḥ kṛṣṇa pramāthi balavaddṛḍham /
tasyāhaṃ nigrahaṃ manye vāyoriva suduṣkaram //
śrībhagavānuvāca /

asaṃśayaṃ mahābāho mano durnigrahaṃ calam /
abhyāsena tu kaunteya vairāgyeṇa ca gṛhyate //

asaṃyatātmanā yogo duṣprāpa iti me matiḥ /
vaśyātmanā tu yatatā śakyo'vāptumupāyataḥ //
arjuna uvāca /

ayatiḥ śraddhayopeto yogāccalitamānasaḥ /
aprāpya yogasaṃsiddhiṃ kāṃ gatiṃ kṛṣṇa gacchati //

kaccinnobhayavibhraṣṭaśchinnābhramiva naśyati /
apratikaṣṭho mahābāho vimūḍho brahmaṇaḥ pathi //

etanme saṃśayaṃ kṛṣṇa chettumarhasyaśeṣataḥ /
tvadanyaḥ saṃśayasyāsya chettā na hyupapadyate //
śrībhagavānuvāca /

pārtha naiveha nāmutra vināśastasya vidyate /
na hi kalyāṇakṛtkaściddurgatiṃ tāta gacchati //

prāpya puṇyakṛtāṃ lokānuṣitvā śāśvatīḥ samāḥ /
śucīnāṃ śrīmatāṃ gehe yogabhraṣṭo'bhijāyate //

athavā yogināmeva kule bhavati dhīmatām /
etaddhi durlabhataraṃ loke janma yadīdṛśyam //

tatra taṃ buddhisaṃyogaṃ labhate paurvadehikam /
yatate ca tato bhūyaḥ saṃsiddhau kurunandana //

pūrvābhyāsena tenaiva hriyate hyavaśe'pi saḥ /
jijñāsurapi yogasya śabdabrahmātivartate //

prayatnādyatamānastu yogī saṃśuddhakilviṣaḥ /
anekanmasaṃsiddhastato yāti parāṃ gatim //

tapasvibhyo'dhiko yogī jñānibhyopi mato'dhikaḥ /
karmibhyaścādhiko yogī tasmādyogī bhāvārjuna //

yogināmapi sarveṣāṃ madgatenāntarātmanā /
śraddhāvānbhajate yo māṃ sa me yuktatamo mataḥ //