United with pure reason, one lets go of both good and bad actions. Therefore, embrace yoga, for yoga is skill in action.
Yoga
Yoga refers to a practice of uniting body, mind, and spirit. Traditions converge on its goal of self-realization. They diverge in methods and emphasis.
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The yogi who, having attained unity, worships me dwelling in all beings, remains in me, regardless of his way of life.
Yes, spiritual discipline is necessary.
By the grace of Vyasa I have heard this supreme secret, this yoga, directly from Krishna, the Lord of yoga, as he himself declared it.
व्यासप्रसादाच्छ्रुतवानेतद्गुह्यमहं परम् | योगं योगेश्वरात्कृष्णात्साक्षात्कथयतः स्वयम् ||१८-७५||
It is that same ancient yoga that I have taught you today, for you are my devotee and my friend; and this is the supreme secret.
स एवायं मया तेऽद्य योगः प्रोक्तः पुरातनः | भक्तोऽसि मे सखा चेति रहस्यं ह्येतदुत्तमम् ||४-३||
The Blessed Lord said: I taught this imperishable yoga to Vivasvan; Vivasvan told it to Manu, and Manu related it to Ikshvaku.
श्रीभगवानुवाच | इमं विवस्वते योगं प्रोक्तवानहमव्ययम् | विवस्वान्मनवे प्राह मनुरिक्ष्वाकवेऽब्रवीत् ||४-१||
The Blessed Lord said: In this world a twofold path was taught by Me long ago, O sinless one: the path of knowledge for the followers of Sankhya, and the path of action for the yogis.
श्रीभगवानुवाच | लोकेऽस्मिन् द्विविधा निष्ठा पुरा प्रोक्ता मयानघ | ज्ञानयोगेन साङ्ख्यानां कर्मयोगेन योगिनाम् ||३-३||
The Blessed Lord said: Those who fix their minds on me and worship me, ever steadfast and endowed with supreme faith — them I consider the most perfect in yoga.
श्रीभगवानुवाच | मय्यावेश्य मनो ये मां नित्ययुक्ता उपासते | श्रद्धया परयोपेताः ते मे युक्ततमा मताः ||१२-२||
Handed down this way in succession, the royal sages knew it. But over the long course of time, Arjuna, this yoga was lost here in the world.
एवं परम्पराप्राप्तमिमं राजर्षयो विदुः | स कालेनेह महता योगो नष्टः परन्तप ||४-२||
Established in yoga, perform your actions, Dhananjaya, abandoning attachment and remaining even-minded in success and failure. This evenness of mind is called yoga.
योगस्थः कुरु कर्माणि सङ्गं त्यक्त्वा धनञ्जय | सिद्ध्यसिद्ध्योः समो भूत्वा समत्वं योग उच्यते ||२-४८||
When the five senses come to rest along with the mind, and the intellect does not stir—that, they say, is the highest state.
यदा पञ्चावतिष्ठन्ते ज्ञानानि मनसा सह । बुद्धिश्च न विचेष्टते तामाहुः परमां गतिम् ॥ १०॥
The unwavering resolve by which, through yoga, one holds together the workings of the mind, the vital breaths, and the senses — that resolve, Partha, is sattvic.
धृत्या यया धारयते मनःप्राणेन्द्रियक्रियाः | योगेनाव्यभिचारिण्या धृतिः सा पार्थ सात्त्विकी ||१८-३३||
Some perceive the self within the self by the self through meditation; others by the yoga of knowledge, and still others by the yoga of action.
ध्यानेनात्मनि पश्यन्ति केचिदात्मानमात्मना | अन्ये साङ्ख्येन योगेन कर्मयोगेन चापरे ||१३-२५||
The Blessed Lord said: Listen, Arjuna, to how — with your mind attached to me, practicing yoga, and taking refuge in me — you will know me completely, beyond any doubt.
श्रीभगवानुवाच | मय्यासक्तमनाः पार्थ योगं युञ्जन्मदाश्रयः | असंशयं समग्रं मां यथा ज्ञास्यसि तच्छृणु ||७-१||
And of all yogis, the one who, full of faith, worships me with the inner self absorbed in me, I hold to be the most disciplined of all.
योगिनामपि सर्वेषां मद्गतेनान्तरात्मना | श्रद्धावान्भजते यो मां स मे युक्ततमो मतः ||६-४७||
The yogi is greater than those who practice austerities, and is thought greater even than those of knowledge, and greater than those devoted to action; therefore be a yogi, Arjuna.
तपस्विभ्योऽधिको योगी ज्ञानिभ्योऽपि मतोऽधिकः | कर्मिभ्यश्चाधिको योगी तस्माद्योगी भवार्जुन ||६-४६||
One who, by comparison with oneself, sees the same everywhere, Arjuna — whether pleasure or pain — that yogi is regarded as the highest.
आत्मौपम्येन सर्वत्र समं पश्यति योऽर्जुन | सुखं वा यदि वा दुःखं स योगी परमो मतः ||६-३२||
"As a lamp in a windless place does not flicker" — this is the simile recalled for the yogi of controlled mind, practicing the yoga of the Self.
यथा दीपो निवातस्थो नेङ्गते सोपमा स्मृता | योगिनो यतचित्तस्य युञ्जतो योगमात्मनः ||६-१९||
Therefore, with the sword of knowledge cut away this doubt in your heart, born of ignorance about the Self. Take up yoga and stand ready, Arjuna.
तस्मादज्ञानसम्भूतं हृत्स्थं ज्ञानासिनात्मनः | छित्त्वैनं संशयं योगमातिष्ठोत्तिष्ठ भारत ||४-४२||
There is nothing in this world as purifying as knowledge. In time, one perfected in yoga finds it within oneself.
न हि ज्ञानेन सदृशं पवित्रमिह विद्यते | तत्स्वयं योगसंसिद्धः कालेनात्मनि विन्दति ||४-३८||