Verse 6.18

Verse 6.18: “When (his) mind, properly restrained, remains fixed upon the Self only, and when he becomes free from any yearnings, then is he called the one steadied in (Yogic) Discipline. (353)

Commentary called Jnaneshwari by Jnaneshwar:

When external actions thus are regulated by measured means, the internal happiness is even found to expand. It, in this wise, opens the easy way to the path of ‘Yoga’, without any deliberate study of it. Just as with the rush of good luck, all prosperity automatically walks to your very doors, all (your own) efforts simply remaining the nominal cause of them, (in the same way), one with regulated actions, standing face to face with the study (of the Science of ‘Yoga’) with great regard, experiences the realization of ‘Yoga’. Therefore, Oh Partha, the fortunate one, who succeeds in regulated activity, would adorn the throne of emancipation.