Showing posts with label meditation. Show all posts
Showing posts with label meditation. Show all posts

Saturday, 23 December 2023

The Anugita and the Sevenfold Principle

p. 285 The Brâhmana said:

I have crossed beyond that very impassable place, in which fancies are the gadflies and mosquitoes 3, in which grief and joy are cold and heat, in which delusion is the blinding darkness, in which avarice is the beasts of prey and reptiles, in which desire and anger are the obstructors, the way to which consists in worldly objects, and is to be crossed by one singly 4. And I have entered the great forest 5.

285:3 Cf. as to all this Gîtâ, p. 101.
285:4 This is not the forest spoken of before. but what has been before called the 'impassable place,' but which also at p. 286 is by implication called a forest, viz. the course of worldly life.
285:5 Viz. the 
1. eye, 
2. ear, 
3. tongue, 
4.skin, and
5. nose, and 
6. the mind, and 
7. understanding--

these are called trees, as being producers of the fruits, namely, the pleasures and pains derived from their several operations; the guests are the powers of each sense personified--they receive the fruits above described; the hermitages are the trees above mentioned, in which the guests take shelter; the seven forms of concentration are the exclusion from the self of the seven functions of the seven senses &c. already referred to; the seven forms of initiation refer to the initiation into the higher life, by repudiating as not one's own the actions of each member out of the group of seven. Cf. as to this Khândogya, p. 219, and commentary there.
285:6 Cf. for these different numbers of colours, Yoga-sûtra II, 19, and commentary, p. 105, and Sânkhya-sâra, p. 18. The trees here meant are the Tanmâtras, or subtle elements, and the theory is that the Gandha-tanmâtra, or subtle element of smell, has five qualities, its own special one, so to say, and the four special ones of the others; the next is taste, the next colour, the next touch, and the last sound; each has one quality less than its predecessor. See Yoga-sûtra, p. 106, and gloss; Sânkhya-sûtra I, 62; and Vedânta Paribhâshâ, p. 45.

The Brâhmana's wife said:

Where is that forest, O very intelligent person! what are the trees (there), and what the rivers, and the hills and mountains; and at what distance is that forest? 

The Brâhmana said:

p. 286  There is nothing else more delightful than that, when there is no distinction from it. There is nothing more afflicting than that, when there is a distinction from it 1. There is nothing smaller than that, there is nothing larger than that 2. There is nothing more subtle than that; there is no other happiness equal to, that. Entering it, the twice-born do not grieve, and do not exult 3. They are not afraid of anybody, and nobody is afraid of them. In that forest 4 are seven large trees 5, seven fruits, and seven guests; seven hermitages, seven (forms of) concentration, and seven (forms of) initiation. This is the description of the forest. That forest is filled with trees producing splendid flowers and fruits of five colours 6. 

286:1 These are mind and understanding; the fruits and flowers are here of 'undistinguished colours,' as the text expresses it, since they include the colours of all the fruits of all the other five sets of trees; that is to say, the subject-matter of their operations is sound, taste, &c., the subject-matters of all the senses together. 'Undistinguished colours' is, perhaps, more literally 'of colours not clear.' Arguna Misra paraphrases it by 'of variegated colours,' which is no doubt the true ultimate sense.
286:2 The self, Nîlakantha. See p. 279, note  7 supra.
286:3 I. e., I presume, devoted to the Brahman.
286:4 I. e. true knowledge, Arguna Misra.
286:5 See note  5, p. 285.
286:6 I. e. when the senses having worked, as unconnected with the self, are finally absorbed into it. Cf. Sânkhya-kârikâ 49 and Katha, p. 151.

p. 287 That forest is filled with trees producing flowers and fruits of four colours. That forest is filled with trees producing flowers and fruits of three colours, and mixed. That forest is filled with trees producing flowers and fruits of two colours, and of beautiful colours. That forest is filled with trees producing flowers and fruits of one colour, and fragrant. That forest is filled with two large trees producing numerous flowers and fruits of undistinguished colours 1. There is one fire 2 here, connected with the Brahman 3, and having a good mind 4. And there is fuel here, (namely) the five senses. The seven (forms of) emancipation from them are the seven (forms of) initiation 5. The qualities are the fruits, and the guests eat the fruits. There, in various places, the great sages receive hospitality. And when they have been worshipped and have disappeared 6, another forest shines forth, in which intelligence is the tree, and emancipation the fruit, and which possesses shade (in the form of) tranquillity, which depends on knowledge, which has contentment for its water, and which has the Kshetragña within for the sun. 

The good who attain to that, have no fear afterwards. Its end cannot be perceived upwards or downwards or horizontally 1. There always dwell seven females there 2, with faces (turned) downwards, full of brilliance, and causes of generation. They absorb 3 all the higher delights of people, as inconstancy (absorbs) everything 4. In that same 5 (principle) the seven perfect sages, together with their chiefs, the richest 6, abide, and again emerge from the same. 

1. Glory; 
2.  brilliance, and 
3.  greatness, 
4. enlightenment, 
5. victory, 
6. perfection, and 
7. power 7--

these seven rays follow after this same sun. Hills and mountains also are there collected together, and rivers and streams flowing with water produced from the Brahman 8. And there is the confluence of the rivers in the secluded place 9 for the sacrifice, whence those who are contented in their own selfs repair to the divine grandsire himself.

287:1 It extends on all sides, its end cannot be perceived on any side.
287:2 These are, according to Arguna Misra, the Mahat, Ahankâra, and five Tanmâtras. Their faces are turned downwards, as they are obstacles in the way upwards, viz. the way of final emancipation; they are brilliant, as they light up the course of worldly life; and hence, too, they are 'causes of generation.' They give birth to the universe.
287:3 They conceal the higher delight of final emancipation.
287:4 I follow Arguna Misra, but the text is doubtful.
287:5 Viz. the Brahman.
287:6 Cf. Khândogya, pp. 295-300. The word sages here, as before, means the various organs. See Brihadâranyaka, p. 415.
287:7 Glory = renown; brilliance = Brahmic splendour (Brahmategas); perfection = obtaining what is desired; power = not being conquered by others, Arguna Misra. About the sun, see line 3 of text above.
287:8 I. e. contentment. See the second line in the text above.
287:9 I. e. the space in the heart, the sacrifice being that of 'concentration of mind,' yogayagña,--Nîlakantha. A confluence of rivers is very sacred--here the meaning intended seems to be the absorption of all desires by contentment into the heart.

p. 288 Those whose wishes are reduced 1, whose wishes are (fixed) on good vows, whose sins are burnt up by penance, merging the self in the self 2, devote themselves to Brahman. Those people who understand the forest of knowledge 3, praise tranquillity. And aspiring to that forest, they are born so as not to lose courage 4. Such, indeed, is this holy forest, as understood by Brâhmanas. And understanding it, they act (accordingly), being directed by the Kshetragña.

288:1 Literally, 'lean.'
288:2 I. e. the body in the soul, Arguna Misra.
288:3 Knowledge is Brahman, which is described as a forest here, Arguna Misra.
288:4 Cf. Gîtâ, p. 70.

Thursday, 5 May 2022

Patanjali's Yoga Sutras Summary: Book 1: On Samādhi

 

Book 1: On Samādhi

1- The Modifications of the Mind and the cessations thereof (1-16)

The planes of the mind are:-1-Wandering (Ksipta); 2-Forgetful (Mudha) ; 3-Occasionally steady or distracted (Viksipta) ; 4-One-pointed (Ekagra) ; and 5-Restrained (Niruddha). (1)

The mind is possessed of the three qualities: illumination, activity and inertia. (2)

The latent impressions (saṁskārāḥ) of that kind are brought about by the vṛttis or mental modifications --both Kliṣṭa and Akliṣṭa, and new mental modifications or vṛttis are produced by these latent impressions (saṁskāraiḥ). Thus, the wheel (cakram) of mental modifications (vṛtti) and latent impressions (saṁskāra) turns round and round incessantly. Therefore, a mind (cittam) of that kind --i.e. with that wheel revolving and revolving within it--abides in itself (ātma-kalpena) or becomes reabsorbed in its matrix or Prakṛti, where the three Guṇas are in equilibrium, when the function or operation of those Guṇas has been terminated or ended (5)

The five modificiations of the mind: 1- Correct knowledge (pramāṇa), perception (pratyakṣa), inference (anumāna) and testimony --āgama-- (āgamāḥ) are the Pramāṇas 2- false knowledge (viparyaya), 3- verbal knowledge about something that is nonexistent (vikalpa), 4- (deep) sleep (nidrā) and 5- recollection --smṛti-- (smṛtayaḥ)

Mental modifications are stopped by Abhyāsa --practice-- and Vairāgya –renunciation (lower and higher) (12)

Sthiti (is) a continuity of calmness and tranquility (praśāntavāhitā) in a mind devoid of vṛtti-s or fluctuations. Obtaining that (state of mental serenity) requires: 1-the effort (prayatnaḥ), 2-the energy (vīryam) (and) 3- the strength of resolution (utsāhaḥ) along with 4-a desire to accomplish (sampipādayiṣayā) that (goal) (13)

2- The three levels of samādhi and ninefold degrees of commitment (17-22) 

There are three levels of Samadhi: Samprajñātasamādhi, Asamprajñātasamādhi, Nirvījasamādhi, mild, middling, intense.

Samprajñātasamādhi (samprajñātaḥ) (is achieved) by means of (anugamāt) 1- Vitarka (Gross enjoyment), 2- Vicāra (Subtle Enjoyment), 3- Ānanda (Happiness, Bliss) and 4- Asmitā (Self-awareness)

Nirvījasamādhi  is preceded (pūrvakaḥ) by 1-  faith (śraddhā), 2- vigor (vīrya), 3- recollection (smṛti), 4- full concentration (samādhi) (and) 5- true knowledge (prajñā)

There are nine levels of yogis divided into mild, middling and intense energy based, further sub-divided into mild, middling and intense consciousness of supremacy (and further into Mild-intense, middling-intense and intense-intense).

3- Isvara and the Pranava (23-28)

An important means to abstract meditation is to meditate on Iswara, feeling the omnipresence of God and this is achieved by reciting Om, the Pranava mantra.

4- The nine obstacles on the yogic path and the eight means of their removal (29-39)

There are nine main obstacles to concentration: 1- disease (Vyahdhi) 2- languor (Santyana)  3- indecision (Samsaya)  4- carelessness (Pramada)  5- sloth (Alasya)  6- sensuality, want of non-attachment (Avirati)  7- mistaken notion (Bhranti)  8- missing the point, not being able to see a place which is just seen (Darsana-alabdhabhumikatva)  9- stability (Anavasthitatva)

Pain (Duhkha), dispair, dejection (Daurmanasya), shakiness (Angarnejayatva), inspiration(Svasa), and expiration (Prasvasah)  are the companions of these distractions. (32)

Eight meditation methods are given for preventing the obstacles: 1- concentration on a single principle 2- contemplating on the feelings of friendship (maitrī), compassion (karuṇā), sympathy in joy (muditā) or indifference --upekṣā 3- by exhalation and retention of Prāṇa 4- a higher perception relating to objects 5- a higher perception that is luminous and free from sorrow (viśokā) 6- contemplation on the mind belonging) to a sage who is free from passions 7- the support of the knowledges --in the form of words and/or images experienced in dreams 8- by meditating on whatsoever suitable

5- The four varieties of Samāpatti or Engrossment and objectless concentration (Nirvījasamādhi) (40-51)

There are four stages of object-oriented contemplation (seeded meditation) Savījasamādhi: 1- Savitarkā indistinct Engrossment, Union of knower and known, 2-  distinct Engrossment, Nirvitarkā Samāpatti  3- Savicārā Samāpatti, Subltle  and 4-Nirvicārā Samāpatti,  ultra-meditative.

The deep understanding or knowledge (prajñā) obtained in that state of Nirvicārasamādhi or Nirvicārā Samāpatti is called Ṛtambharā (48)

On the cessation of that --i.e. of the latent impression born of the aforesaid Prajñā—too, there is Nirvījasamādhi --or the perfect concentration which is objectless or "nirvīja", i.e. no object or "vīja" is utilized as a support for one's own mind to become one-pointed-- (nirvījaḥ samādhiḥ) through the suppression of all mental modifications or fluctuations (51) (See sutras 17-22)

Sunday, 20 February 2022

Patanjali’s Yoga Sutras - A Theosophical Bibliography


One of the great accomplishments of the Theosophical Society was to help popularize Patanjali’s Yoga Sutras. Gordon White observes: “In spite of its founders’ misadventures, the Theosophical Society may be credited with having projected yoga onto the magnetosphere of the late nineteenth- century Indian and Western consciousness” (The "Yoga Sutra of Patanjali": A Biography. Princeton University Press, 2014, p 105). Indeed, from 1885 to 1912, the Theosophical Society was virtually the lone publisher of English translations of the Yoga Sutras (with the exception of  Swami Vivekananda, Raja Yoga, 1896) releasing six versions, and have published at least a dozen translations over the years. Below are a selection, all still well worth investigating, with a few recent translations from other publishers, which are recommended.

A First translation of Yoga Sutras of Patanjali in English containing the first two chapters by J.R Ballyntyne was published by the Benaras College in 1853. In 1872 Govind Deva Shastri completed the remaining two chapters. The complete book was published in 1883 by the Asiatic Society of Bengal.

1- 1885. A revised edition, of the J.R Ballantyne, Govind Shastri Deva translation, edited by Tookaram Tatya, The Yoga Philosophy with comments of Bhojaraja, was published by the Bombay Theosophical publication fund. Bhoja (reigned c. 1010–1055 CE) was a monarch from the Paramara dynasty. 

https://blavatskyarchives.com/theosophypdfs/tatya_the_yoga_philosophy_of_patanjali.pdf#

2- 1889. William Quan Judge published The Yoga Aphorisms of Patanjali in New York, using the Ballantyne/Shastri Deva translation, with occasional comments by Judge, which although short, remain relevant for their unique practical understanding. 

https://www.theosociety.org/pasadena/patanjal/patanyog.htm#

3- 1890. Manilal N. Dvivedi. The Yoga-sūtras of Patanjali.Sanskrit Text and English Translation Together, with an Introduction and an Appendix, and Notes on Each Sutra Based upon Several Authentic Commentaries. Bombay Theosophical publication fund.The first original theosophical translation with  original commentary in a popular style. 

https://digi.ub.uni-heidelberg.de/diglit/dvivedi1890?sid=e0ac846ebef9dee4518981fa37fe8818&ui_lang=eng

4- 1910. Rama Prasad. Patanjali Yoga Sutras with commentary of Vyasa and gloss of Vachaspati Mishra.  Vachaspati Mishra was a ninth or tenth century Indian Hindu philosopher of the Advaita Vedanta tradition, who wrote bhasya (commentaries) on key texts of almost every 9th-century school of Hindu philosophy.  Also wrote "Self-Culture of the Yoga of Patanjali" in 15 parts, "The Theosophist", 1906-1907.

https://archive.org/details/PatanjalisYogaSutraswithTheCommentaryOfVyasaAndTheGlossOfVachaspatiMisraRamaPrasadTranslation

5- 1907. GanganathaJha (translator) The Yoga Darśana: The Sutras of Patañjali with the Bhāṣya of Vyāsa. With notes from Vācaspati Miśra's Tattvavaiśāradī, Vijnana Bhiksu's Yogavartika and Bhoja's Rajamartanda. Rajaram Tukaram Tatya: Bombay Theosophical Publication Fund.

Probably the first edition that is both popular and of scholarly quality. It establishes the importance of Vyasa's commentary and gives a straightforward modern commentary.   

6- 1912. Charles Johnston. The Yoga Sutras of Patanjali. New York: Quarterly Book Department. A solid, practical translation from a good Sanskrit scholar.

https://universaltheosophy.com/cj/yoga-sutras-1909/

7- 1914. Daniel R. Stephen. Patañjali for Western Readers. London: Theosophical Publishing Company, The Yoga Aphorisms of Patañjali Paraphrased and Modernised from Various English Translations and Recensions.

8- 1948. Ernest Wood. Practical Yoga, Ancient and Modern. New York: E. P. Dutton, A New and Independent Translation of Patanjali's Yoga Aphorisms, Interpreted in the Light of Ancient and Modern Psychological Knowledge and Practical Experience.

http://digital.march.es/cortazar/fedora/repository/cortazar:1735/PDF 

9- 1961. I.K. Taimni. "The Science Of Yoga". Theosophical Publishing House, Wheaton, IL. Translation and commentary from Advaita Vedanta perspective using modernized Theosophical terms. 

https://www.yogastudies.org/wp-content/uploads/Science_of_Yoga-Taimni.pdf#

10- 1963.
Hariharananda Aranya. Yoga Philosophy of Patanjali: Containing His Yoga Aphorisms with Vyasa's Commentary in Sanskrit and a Translation with Annotations Including Many Suggestions for the Practice of Yoga (1882), trans. into English by P.N. Mukerji. State University of New York Press, Albany.  Swami Hariharananda Aranya (1869–1947) was a yogi, author, and founder of Kapil Math in Madhupur, India, which is the only monastery in the world that actively teaches and practices Samkhya philosophy.
11- 1989. Georg Feuerstein. The Yoga-Sutra of Patañjali: A New Translation and Commentary. Dr. Georg Feuerstein Ph.D (27 May 1947 – 25 August 2012) was a German Indologist specializing in the philosophy and praxis of Yoga. Feuerstein authored over 30 books on mysticism, Yoga, Tantra, and Hinduism. He translated, among other traditional texts, the Yoga Sutras of Patanjali and the Bhagavad Gita. 
12-1990. Sankara on the Yoga Sutras: Vivarana Sub-commentary to Vyasabhasya on the Yoga Sutras of Patanjali by Trevor Leggett. First printed in 1952, some think that this text is by the great Advaita Vedanta teacher, but most think otherwise. Nonetheless, it is an interesting commentary by an experienced Vedanta philosopher.
 
For an esoteric perspective on the Yoga Sutras, see: 

https://universaltheosophy.com/jwf/patanjali/

Tuesday, 3 August 2021

Bhagavad Gita Summary - Book 6- Dhyana Yoga or The Yoga of Meditation


Chapter 6 deals with meditation practice, and consistent with the previous chapters,  it stresses that formal meditation alone, is not a central practice
per se if there isn't a full integration of action, detachment, devotion and renunciation, fully internalized at a deep level. Certain commentaries divide the Gita into 3 parts, six chapters each; the first part being considered to be the essence of the teachings. Sometime in the future, we will have posts on the next two parts.
1- What is Yoga? (1-9)
Renunciation in action (Verses 1-2) 
1. He who, without depending on the fruits of action, performs his bounden duty, he is a Sannyasin and a Yogin : not he who is without fire and without action. 
Action is a stepping-stone to Dhyana-Yoga. (3)
3. For a devotee who wishes to attain to Yoga, action is said to be the means. For the same (devotee), when he has attained to Yoga, quiescence (sama) is said to be the means.
For a Brahmana there is no wealth equal to this, viz., (knowledge of) oneness and homogeneity (of Brahman in all creatures), truthfulness, character, steadiness, harmlessness, straightforwardness, and renunciation of the several actions."—(Santiparva, 175-38). (Baghavad Gita, with the Commentary of Sri Sankaracharya, transl. A. Mahadeva Sastri, 1901) 
Shastras have stated that a Sanyasi is a yogi because it is only when the desire goes that the essence of yoga is obtained. (Dnyaneshwari; 6:52-53, transl. M.R. Yardi) 
Duty and the final imperative — the "what ought I to do" — comes in here and becomes a part of the process. The actions to be performed are not any and every one. We are not to go on heedlessly and indiscriminately doing everything that is suggested. We must discover what actions ought to be performed by us and do them for that reason and not because of some result we expect to follow. The fact that we may be perfectly certain of the result is no reason for allowing our interest to fasten upon that. Here again is where certain theosophists think they have a great difficulty. They say that knowing the result one is sure to become interested in it. But this is the very task to be essayed — to so hold one's mind and desires as not to be attached to the result.
By pursuing this practice true meditation is begun and will soon become permanent. For one who watches his thoughts and acts, so as to perform those that ought to be done, will acquire a concentration in time which will increase the power of real meditation. It is not meditation to stare at a spot on the wall for a fixed period, or to remain for another space of time in a perfectly vacuous mental state which soon runs into sleep. All those things are merely forms which in the end will do no lasting good. But many students have run after these follies, ignoring the true way. The truth is that the right method is not easy; it requires thought and mental effort, with persistency and faith. Staring at spots and such miscalled occult practices are very easy in comparison with the former. (William Q. Judge, Essays on the Gita, 6, 3)
Who is a Yogin ? (4-9) 
4. When a man, renouncing all thoughts, is not attached to sense-objects and actions, then he is said to have attained to Yoga. 
When a Yogin, keeping the mind steadfast, feels no attachment for the objects of the senses such as sound, nor thinks that he has to do any action,—whether nitya (obligatory) or vaimittika (obligatory and incidental) or kamya (done with a motive) or pratishiddha (forbidden by law), — regarding it as of no use to him; and when he has learned to habitually renounce all thoughts which give rise to desires for objects of this world and of the next, then he is said to have become a Yogagriha, to be one who has attained to Yoga.—The words " renouncing all thoughts" imply that all desires as well as all actions should be renounced. For, all desires spring from thoughts, as the smrti says : 
" Verily desire springs from thought (samkalpa), and of thought yajnas are born."—(Manu ii. 2). 
" O Desire, I know where thy root lies. Thou art born of thought. I shall not think of thee, and thou shalt cease to exist as well as thy root,"—(Mahabharata, Santiparva, 177-25). (Sankara Commentary) 
5. Let a man raise himself by himself, let him not lower himself; for, he alone is the friend of himself, he alone is the enemy of himself. 
However, we are human and weak. As such we require help, for the outer self cannot succeed in the battle. So Krishna points out that the lower self is to be raised up by the help of the higher; that the lower is, as it were, the enemy of the higher, and we must not allow the worse to prevail. It will all depend upon self-mastery. The self below will continually drag down the man who is not self-conquered. This is because that lower one is so near the thick darkness that hangs about the lower rungs of evolution's ladder it is partly devil. Like a heavy weight it will drag into the depths the one who does not try to conquer himself. But on its other side the self is near to divinity, and when conquered it becomes the friend and helper of the conqueror. The Sufis, the Mohammedan mystical sect, symbolize this in their poetry relating to the beautiful woman who appears but for a moment at the window and then disappears. She refuses to open the door to her lover as long as he refers to their being separate; but when he recognizes their unity then she becomes his firm friend. (William Q. Judge, Essays on the Gita, 6, 5)
2- Directions for the practice of Yoga. (10-17)
11. Having in a cleanly spot established a firm seat, neither too high nor too low, with cloth, skin, and kusa grass thereon;
12. Making the mind one-pointed, with the actions of the mind and the senses controlled, let him, seated there on the seat, practise Yoga for the purification of the self.
13. Holding erect and still the body, head, and neck, firm, gazing on the tip of his nose, without looking around;
If, on the other hand, the very act of gazing on the tip of his nose were meant here, then the mind would be fixed only there, not on the Self. As a matter of fact, the Yogin is to concentrate his mind on the Self, as will be taught in vi. 25, ' Making the mind dwell in the Self.' Wherefore the words ' as it were ' being understood, ' gazing 'means here ' the fixing of the eye-sight within.' (Sankara Commentary) 
16. "Half (the stomach) for food and condiments, the third ((quarter) for water, and the fourth should be reserved for free motion of air." 
Arjuna, one rule of the yoga practice is that he who does not perform prescribed actions does not become worthy. One who is a slave to the pleasures of the tongue and of sleep does not have the right to practice yoga. Also, one who, out of obstinacy reduces his diet by suppressing his hunger and thirst and does not sleep properly cannot control his body. How can such a person succeed in yoga? Therefore one should not pamper the sense-pleasures but at the same time one should not totally abandon them also.
One should eat but it should be proper and in moderation. One should undertake only a limited number of tasks. One should talk only what is necessary, walk within limits and sleep at proper times only. Even if one has to stay awake for any reason, it should not be beyond some specific limit. By such regular routine the essential constituents of the body remain in balance. And when the senses are satisfied in proper proportions the mind also remains satisfied.  Once the external organs become regulated the internal happiness increases and the yoga is achieved even without practice. One who practices yoga by remaining regular and controlled in his habits experiences the Self. A person whose mind becomes steady and remains so until death, may be called a person who has achieved yoga. In this stage his mind may be compared to a flame in windless air. (Dnyaneshwari; 6:344-358, transl. M.R. Yardi) 
3- Being established in the Self (18-26) 
18. When the well-restrained thought is established in the Self only, without longing for any of the objects of desire, then he is said to be a Saint.
19. 'As a lamp in a sheltered spot does not flicker,'—this has been thought as the simile of a Yogin of subdued thought, practising Yoga in the Self.
25. Little by little let him withdraw, by reason (buddhi) held in firmness; keeping the mind established in the Self, let him not think of anything. 
He should make the mind constantly abide in the Self, bearing in mind that the Self is all and that nothing else exists. This ' is the highest form of Yoga. (Sankara Commentary) 
4- The effect of Dhyana-Yoga. (27-36)
29. The Self abiding in all beings, and all beings (abiding) in the Self, sees he whose self has been made steadfast by Yoga, who everywhere sees the same. 
He sees all beings—from Brahma, the Creator, down to a clump of grass—as one with the Self ; and in all the different beings—from Brahma, the Creator, down to inanimate objects—he sees the same ; i. e., he sees that the Self and Brahman (the Absolute) are one. (Sankara Commentary) 
30. He who sees Me everywhere and sees everything in Me, to him I vanish not, nor to Me does he vanish. 
He who sees Me, Vasudeva, the Self of all, in all beings, and who sees Brahma, the Creator, and all other beings, in Me, the Self of all ;— when he has thus seen the unity of the Self, I—who am the Isvara—never leave his presence, nor does that wise man leave My presence ; for his Self and Mine are one, and one's own Self cannot but be manifest to oneself. (Sankara Commentary) 
32. Whoso, by comparison with himself, sees the same everywhere, O Arjuna, be it pleasure or pain, he is deemed the highest Yogin. 
He sees that whatever is pleasant to himself is pleasant to all creatures, and that whatever is painful to himself is painful to all beings. Thus seeing that what is pleasure or pain to himself is alike pleasure or pain to all beings, he causes pain to no being ; he is harmless. Doing no harm, and devoted to right knowledge, he is regarded as the highest among all Yogins.
If you are not able to do even this then listen further. One should fix the thought in one's mind that "I am in the body of every being and everything is in Me; that this universe and all living beings are interlinked." Needless to say that he who sees my presence in every being with the feeling of equality and does not harbour discrimination in his mind based on outwardly differences between them is undisputedly one with Me. By not being involved with its affairs he reaches my level through his experiencing of the Brahman even while he is in his body. He who has experienced my all-pervasive nature himself becomes all-pervasive. (Dnyaneshwari; 6:390-402, transl. M.R. Yardi) 
34. The mind verily, is, O Krishna, restless, turbulent, strong and obstinate. Thereof the restraint I deem quite as difficult as that of the wind. 
35. Doubtless, O mighty-armed, the mind is hard to restrain and restless ; but by practice, O son of Kunti, and by indifference it may be restrained.
Shri Krishna replied, "What you are saying is true. The mind is mercurial. But if one can turn it towards the practice of yoga observing dispassion, then it will become steady after some time. The mind has one good quality and that is, it develops a liking for a thing towards which gets attracted. Therefore one should make it to like the experience of the Self. Those who are not dispassionate and also do not practice yoga would find it impossible to control the mind. But if we do not at all bother about following the techniques of regulated behaviour (Yama- Niyama) and about dispassion, and instead get immersed in sense pleasures and thus do not conquer the mind then how can it become steady? Therefore let your actions be such as to control the mind and then we shall see how it does not become steady." (Dnyaneshwari; 6:418-424, transl. M.R. Yardi) 
The next few verses in the Gita outline that which is extremely difficult — equal-mindedness, and intentness upon the Supreme Being in heat and cold, pleasure and pain, success and failure. We cannot reach to this easily, perhaps not in many lives, but we can try. Every effort we make in that direction will be preserved in the inner nature and cannot be lost at death. It is a spiritual gain, the riches laid up in heaven to which Jesus referred. To describe the perfection of equal-mindedness is to picture an adept of the highest degree, one who has passed beyond all worldly considerations and lives on higher planes. Gold and stones are the same to him. The objects he seeks to accomplish are not to be reached through gold, and so it and the pebbles have the same value. He is also so calm and free from delusion of mind and soul that he remains the same whether with enemies or friends, with the righteous or the sinners.
This high condition is therefore set before us as an ideal to be slowly but steadfastly striven after so that in the course of time we may come near it. If we never begin we will never accomplish, and it is far better to adopt this high ideal, even though failing constantly, than to have no ideal whatever. But some are likely to make a mistake herein. Indeed they have done so. They set up the ideal, but in a too material and human manner. Then they thought to walk on the chosen path by outward observance, by pretending to regard gold and stones as the same to them, while in their hearts they preferred the gold. Their equal-mindedness they confined to other people's affairs, while they displeased and alarmed all relatives and friends by the manner of riding this hobby and by wrong neglect of obvious duty. Truly they sought for equal-mindedness, but failed to see that it can only be acquired through right performance of duty, and not by selecting the duties and environments that please us. (William Q. Judge, Essays on the Gita, 6, 27-36)
5- Failures in Yoga and the after-career. (37-47)
40. O Partha, neither in this world nor in the next is there destruction for him ; none, verily, who does good. My son, ever comes to grief. 
44. By that very former practice is he borne on, though unwilling. Even he who merely wishes to know of Yoga rises superior to the Word-Brahman.
The best of the Yogins. 45-47 
45. Verily, a Yogin who strives with assiduity, purified from sins and perfected in the course of many births, then reaches the Supreme Goal.
46. A Yogin is deemed superior to men of austerity, and superior to even men of knowledge he is also superior to men of action ; therefore be thou a Yogin, O Arjuna,
Knowledge of the teachings of the sastra. Action: such as Agnihotra, worship of the sacred fire. (Sankara Commentary) 
47. Of all Yogins, whoso, full of faith, worships Me with his inner self abiding in Me, he is deemed by Me as most devout.