Verse 6.18

Sanskrit text, Unicode transliteration, Word-for-word and English translation of verse 6.18:

यदा विनियतं चित्तम् आत्मन्य् एवावतिष्ठते ।
निस्पृहः सर्व-कामेभ्यो युक्त इत्य् उच्यते तदा ॥ १८ ॥

yadā viniyataṃ cittam ātmany evāvatiṣṭhate |
nispṛhaḥ sarva-kāmebhyo yukta ity ucyate tadā || 18 ||

yadā–when; viniyatam–is fully controlled; cittam–the mind; ātmani–in the soul; eva–certainly; avatiṣṭhate–and stays steadily; nispṛhaḥ–free from cravings; sarva-kāmebhyaḥ–for all sense enjoyment; yuktaḥ iti–thus connected in yoga; ucyate–he is said; tadā–then.

When the mind becomes completely controlled and firmly fixed on the self alone, free from the craving for all sense enjoyment, at that time, one is said to be connected in yoga.

Commentary: Sārārtha-Varṣiṇī Ṭīkā

(By Śrīla Viśvanātha Cakravartī Ṭhākura; the innermost intention of the commentary named ‘the shower of essential meanings’)

“When is one’s yoga complete?” In reply to this, Śrī Kṛṣṇa speaks this verse beginning with yadā. “A person has attained perfection in yoga when he can situate the controlled mind unwaveringly in the self (ātmā).”

Commentary: Sārārtha-Varṣiṇī Prakāśikā-vṛtti

(By Śrīla Bhaktivedānta Nārāyaṇa Gosvāmī Mahārāja; the explanation that illuminates the commentary named Sārārtha-varṣiṇī)

The yogī is said to have attained perfection in yoga when during his yoga practice, his heart becomes steady, free from desires for sense enjoyment and situated within his self alone.