Lord Krishna said: He who does his duty without expecting the fruit of actions is a sanyasi (sankhyayogi) and a yogi (karmayogi) both. One should lift oneself by one's own efforts and should not degrade oneself because one's own self is one's friend and one's own self is one's enemy. The yogi who has controlled his mind and body and is free from desires and void of possessions should constantly engage his mind in meditation.
Occupying a clean seat and concentrating the mind and controlling the functions of the mind and senses, he should practise yoga for self-purification. Holding the trunk, head and neck straight and steady, remaining firm and fixing the gaze on the tip of his nose without looking in other directions and constantly applying his mind to me, the yogi of disciplined mind attains everlasting peace consisting of supreme bliss which abides in me.
Arjuna, this yoga is neither for him who overeats nor for him who observes complete fast. It is neither for him who is given to too much sleep nor even for him who is ceaselessly awake. He who sees me (the universal self) present in all beings and all beings existing within me, he is never out of my sight nor am I ever out of his sight.
Arjuna said: Krishna, owing to restlessness of mind, I do not perceive the stability of this yoga in the form of equanimity which you have just spoken of. As this mind is very unsteady, turbulent, tenacious and powerful; therefore, I consider it as difficult to control as the wind.
Lord Krishna said: The mind is restless and difficult to curb, Arjuna. But it can be brought under control by repeated practice (of meditation) and by the exercise of dispassion. Yoga is difficult of achievement by one whose mind is not subdued by him; however, the one who has his mind under control and is ceaselessly striving, it can be easily attained through practice; such is my conviction.
Arjuna said: Krishna, what becomes of the aspirant who though endowed with faith has not been able to subdue his passions and whose mind is therefore diverted from yoga at the time of death and who thus fails to reach perfection in yoga (god-realisation)?
Krishna, swerved from the path leading to god-realisation and without anything to stand upon, is he not lost like the scattered cloud deprived of both god-realisation and heavenly enjoyment? Krishna, only you are capable to remove this doubt of mine completely as none other than you can dispel this doubt.
Lord Krishna said: Arjuna, there is no fall for him either here or hereafter. None who strives for self-redemption (i.e. god-realisation) ever meets with evil destiny. Such a person who has strayed from yoga obtains the higher worlds (heaven etc.) to which men of meritorious deeds alone are entitled and having resided there for innumerable years takes birth of pious and prosperous parents. Or he is born in the family of enlightened yogis but such a birth in this world is very difficult to obtain. Arjuna, he automatically regains in that birth the latencies of even - mindedness of his previous birth and through that he strives harder than ever for perfection in the form of god-realisation. The yogi, however , who diligently takes up the practice attains perfection in this very life with the help of latencies of many births being thoroughly purged of sin forthwith reaches the supreme state. Therefore, Arjuna, do become a yogi. Of all yogis again, he who devoutly worships me with his mind focused on me is considered by me to be the best yogi.