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6.23 The parting from pain Krishna speaks

तं विद्याद् दुःखसंयोगवियोगं योगसंज्ञितम्
स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा

taṁ vidyād duḥkha-sanyoga-viyogaṁ yogasaṅjñitam
sa niśhchayena yoktavyo yogo ’nirviṇṇa-chetasā

know that to be yoga: the parting from union with pain. It should be practised with resolve, and without discouragement.

Explanation

The Gita's own definition of yoga, and it is negative.

duḥkha-saṁyoga-viyogam — the parting from union with pain. Not the gaining of bliss, not union with the divine: a separation from something you were joined to.

And the instruction that follows is two words long: with resolve, and without discouragement.

Going further

The Gita's own definition of yoga, and it is negative: duḥkha-sanyoga-viyogam — the parting from union with pain.

Not the gaining of bliss. The undoing of a joining that was already there. And then, tellingly, the instruction to practise anirviṇṇa-chetasā — without discouragement — which concedes that the process gives you plenty of reason to be discouraged.

Word by word

tam
that
vidyāt
you should know
duḥkha-sanyoga-viyogam
state of severance from union with misery
yoga-saṁjñitam
is known as yog
saḥ
that
niśhchayena
resolutely
yoktavyaḥ
should be practiced
yogaḥ
yog
anirviṇṇa-chetasā
with an undeviating mind