The path of Self-knowledge
A person who has completely renounced the fruits of all works, lives happily, neither performing nor directing any action. (5.13) The Lord neither creates the urge for action, nor the feeling of doership, nor the attachment to the results of action in people. All these are done by the powers (Gunas) of Nature. (5.14) The Lord does not take the responsibility for the good or evil deeds of anybody.

Additional marks of an enlightened person
An enlightened person (by perceiving the Lord in all) looks at a learned and humble priest, an outcast, even a cow, an elephant, or a dog with an equal eye. (See also 6.29) (5.18) Everything has been accomplished in this very life by the one whose mind is set in equality. Such a person has realized the Eternal Being (Brahm), because the Eternal Being is flawless and impartial. (See also 18.55) (5.19) One who neither rejoices on obtaining what is pleasant, nor grieves on obtaining the unpleasant, who has a steady mind, who is undeluded, and who is a knower of Eternal Being (Brahm), such a person eternally abides with Brahm. (5.20) Such a person who is in union with the Eternal Being (Brahm) becomes unattached to external sensual pleasures by discovering the joy of the Self through contemplation, and enjoys transcendental bliss.

(5.21) Sensual pleasures are, in truth, the source of misery, and have a beginning and an end. Therefore the wise, O Arjun, does not rejoice in sensual pleasures. (See also 18.38) (5.22) One who is able to withstand the impulse of lust and anger before death is a yogi, and a happy person. (5.23) One who finds happiness with the Eternal Being (Brahm), who rejoices Brahm within, and who is illuminated by Self-knowledge; such a yogi attains BrahmNirvan, and goes to the Supreme Being (ParBrahm).

(5.24) Seers whose sins (or imperfections) are destroyed, whose doubts have been dispelled by Self-knowledge (Jnaan), whose minds are disciplined, and who are engaged in the welfare of all beings, attain the Supreme Being (ParBrahm). (5.25) They who are free from lust and anger, who have subdued the mind and senses, and who have known the Self, easily attain BrahmNirvan. (5.26)

The third path — the path of devotional meditation and contemplation
A sage is, in truth, liberated by renouncing all sense enjoyments, fixing the eyes and the mind (at an imaginary black dot) between the eye brows, equalizing the breath moving through the nostrils (by Kriyaa techniques), keeping the senses, mind, and intellect under control, having salvation (Mukti) as the prime goal, and becoming free from lust, anger, and fear. (5.27-28) My devotee attains peace by knowing Me (or Krishn, the Supreme Being (ParBrahm)) as the enjoyer of sacrifices and austerities, as the great Lord of all the universe, and the friend of all beings. (5.29)

PATH OF MEDITATION

A KarmaYogi is a renunciant
The Supreme Lord said: One who performs the prescribed duty without seeking its fruit (for personal enjoyment) is a renunciant (Samnyaasi) and a KarmaYogi. One does not become Samnyaasi merely by not lighting the fire, and one does not become a yogi merely by abstaining from work. (6.01) O Arjun, what they call renunciation (Samnyaas) is also known as KarmaYog. No one becomes a KarmaYogi who has not renounced the selfish motive behind an action. (See also 5.01, 5.05, 6.01, and 18.02) (6.02)

A definition of yog and yogi
For the wise who seeks to attain yog (of meditation, or the calmness of mind), KarmaYog is said to be the means. For the one who has attained yog, the calmness becomes the means (of Self-realization). A person is said to have attained yogic perfection when he or she has no desire for sensual pleasures, or attachment to the fruits of work, and has renounced all personal selfish motives. (6.03-04)

The mind is the best friend as well as the worst enemy
One must elevate — and do not degrade — oneself by one’s own mind. The mind alone is one’s friend as well as one’s enemy. The mind is the friend of those who have control over it, and the mind acts like an enemy for those who do not control it. (6.05-06) One who has control over the lower self — the mind and senses — is tranquil in heat and cold, in pleasure and pain, and in honor and dishonor, and remains ever steadfast with the supreme Self.

(6.07) A person is called yogi who has both Self-knowledge and Self-realization, who is calm, who has control over the mind and senses, and to whom a clod, a stone, and gold are the same. (6.08) A person is considered superior who is impartial towards companions, friends, enemies, neutrals, arbiters, haters, relatives, saints, and sinners. (6.09)

Techniques of meditation
A yogi, seated in solitude and alone, should constantly try to contemplate on the Supreme Being after bringing the mind and senses under control, and becoming free from desires and proprietorship. (6.10) One should sit on his or her own firm seat that is neither too high nor too low, covered with sacred Kush grass, a deerskin, and a cloth, one over the other, in a clean spot. Sitting there (in a comfortable position) and concentrating the mind on God, controlling the thoughts and the activities of the senses, one should practice meditation for self-purification.

(6.11-12) One should sit by holding the waist, spine, chest, neck, and head erect, motionless and steady; fix the eyes and the mind steadily in front of the nostrils, without looking around; make your mind serene and fearless, practice celibacy; have the mind under control, think of Me, and have Me as the supreme goal. (See also 4.29, 5.27, 8.10, and 8.12) (6.13- 14) Thus, by always practicing to keep the mind fixed on Me, the yogi whose mind is subdued attains peace of BrahmNirvan and comes to Me. (6.15) This yog is not possible, O Arjun, for the one who eats too much, or who does not eat at all; who sleeps too much, or who keeps awake.

(6.16) But, for the one who is moderate in eating, recreation, working, sleeping, and waking, the yog of meditation destroys all sorrow. (6.17) A person is said to have achieved yog, the union with the Eternal Being (Brahm), when the perfectly disciplined mind becomes free from all desires, and gets completely united with Brahm in Samaadhi (Trance). (6.18) A lamp in a spot sheltered (by the Eternal Being) from the wind (of desires) does not flicker; this simile is used for the subdued mind of a yogi practicing meditation on the Eternal Being (Brahm). (6.19) When the mind disciplined by the practice of meditation becomes steady, one becomes content with the Eternal Being (Brahm) by beholding Him with purified intellect.

(6.20) One feels infinite bliss that is perceivable only through the intellect, and is beyond the reach of the senses. After realizing the Eternal Being (Brahm), one is never separated from the Absolute Reality. (6.21) After Self-realization (SR), one does not regard any other gain superior to SR. Established in SR, one is not moved even by the greatest calamity. (6.22) The state of severance of union with sorrow is called yog.

This yog should be practiced with firm determination, and without any mental reservation. (6.23) One gradually attains tranquillity of mind by totally abandoning all selfish desires, completely restraining the senses from the sense objects by the intellect, and keeping the mind fully absorbed in the Eternal Being (Brahm) by means of a well-trained and purified intellect; and thinking of nothing else. (6.24-25) Wheresoever this restless and unsteady mind wanders away during meditation, one should just witness it under the watchful eye (or supervision) of the Self. (6.26)

Who is a yogi?
Supreme bliss comes to a Self-realized yogi whose mind is tranquil, whose desires are under control, and who is free from sin (or faults). (6.27) Such a sinless yogi, who constantly engages his or her mind and intellect with the Eternal Being (Brahm), easily enjoys the infinite bliss of contact with Brahm. (6.28) Because of perceiving the omnipresent Eternal Being (Brahm) abiding in all beings, and all beings abiding in the Eternal Being; a yogi, who is in union with the Eternal Being, sees every being with an equal eye.

(See also 4.35, 5.18) (6.29) Those who perceive Me in everything and behold everything in Me, are not separated from Me, and I am not separated from them. (6.30) The non-dualists, who adore Me as abiding in all beings, abide in Me irrespective of their mode of living. (6.31) One is considered the best yogi who regards every being like oneself, and who can feel the pain and pleasures of others as one’s own, O Arjun. (6.32)

Two methods to subdue the restless mind
Arjun said: O Krishn, You have said that the yog of meditation is characterized by the calmness of mind, but due to restlessness of mind I do not perceive the steady state of mind. Because the mind, indeed, is very unsteady, turbulent, powerful, and obstinate, O Krishn. I think restraining the mind is as difficult as restraining the wind.

(6.33-34) The Supreme Lord said: Undoubtedly, O Arjun, the mind is restless and difficult to restrain, but it is subdued by constant vigorous spiritual practice with perseverance, and detachment, O Arjun. (6.35) In My opinion, yog is difficult for the one whose mind is not subdued. However, yog is attainable by the person of subdued mind by striving through proper means. (6.36)