शुचौ देशे प्रतिष्ठाप्य स्थिरमासनमात्मनः।नात्युच्छ्रितं नातिनीचं चैलाजिनकुशोत्तरम् ॥

Teachers usually read this idea across several verses together, one shared reflection covers the whole unit.

• 6.10Let the yogi constantly strive to keep the mind steady, remaining in solitude, alone, with the body and mind controlled, and free from hope and greed.

• 6.11In a clean spot, having established a firm seat of his own, neither too high nor too low, made of cloth, skin, and kusha grass layered one over the other.

• 6.12There, having made the mind one-pointed, with the actions of the mind and senses controlled, let him, seated on the seat, practice Yoga for the purification of the self.
• 6.13Let him firmly hold his body, head, and neck erect and still, gazing at the tip of his nose without looking around.
• 6.14Serene-minded, fearless, firm in the vow of a Brahmachari, having controlled their mind, thinking of Me and balanced in mind, let them sit, having Me as their supreme goal.
• 6.15Thus, always keeping the mind balanced, the yogi, with the mind controlled, attains the peace abiding in Me, culminating in liberation.
• 6.16Verily, Yoga is not possible for him who eats too much, nor for him who does not eat at all, nor for him who sleeps too much, nor for him who is always awake, O Arjuna.
• 6.17Yoga becomes the destroyer of pain for him who is moderate in eating and recreation (such as walking, etc.), who exercises moderation in action, and who is moderate in sleep and wakefulness.
• 6.18When the perfectly controlled mind rests in the Self alone, free from longing for any of the objects of desire, then it is said, 'He is united'.
• 6.19As a lamp placed in a windless spot does not flicker, so is the Yogi of a controlled mind, who practices Yoga in the Self, compared.
• 6.20When the mind, restrained by the practice of yoga, attains quietude, and when one sees the Self by the Self, they are satisfied in their own Self.
• 6.21When he (the Yogi) feels that infinite bliss which can be grasped by the pure intellect and which transcends the senses, and is established therein, never moving away from the reality.
• 6.22Having obtained it, he thinks there is no other gain superior to it; established in it, he is not moved even by heavy sorrow.
• 6.23Let this be known by the name of Yoga, the severance from union with pain. This Yoga should be practiced with determination and with an undespairing mind.
• 6.24Abandoning unreservedly all desires born of Sankalpa (thought and imagination) and completely restraining the whole group of senses by the mind from all sides.
• 6.25Little by little, let him attain steadiness of the intellect by holding it firmly; having made the mind establish itself in the Self, let him not think of anything else.
• 6.26From whatever cause the restless and unsteady mind wanders away, let him restrain it from that and bring it under the control of the Self alone.
• 6.27Supreme Bliss indeed comes to this Yogi whose mind is made peaceful, whose passion is quelled, who has become Brahman, and who is free from sin.
• 6.28The yogi, always engaging the mind thus (in the practice of yoga), is freed from sins and easily enjoys the infinite bliss of contact with Brahman (the Eternal).

na

not

ati

too

ajina

a deerskin

chaila

cloth

deśhe

place

kuśha

kuśh grass

nīcham

low

sthiram

steadfast

uttaram

one over the other

āsanam

seat

śhuchau

in a clean

ātmanaḥ

his own

uchchhritam

high

pratiṣhṭhāpya

having established