āsthitaḥ

कर्मणैव हि संसिद्धिमास्थिता जनकादयः

āsthitāḥ — attained

It was by action alone that Janaka and others before him reached perfection. So act, if only for the sake of the world.

सांख्ययोगौ पृथग्बालाः प्रवदन्ति न पण्डिताः

āsthitaḥ — being situated

Children say that renunciation and yoga are different things; the learned do not. Whoever is truly established in one gains the fruit of both.

सर्वभूतस्थितं यो मां भजत्येकत्वमास्थितः

āsthitaḥ — established

One who, established in oneness, worships me as present in all beings — however such a person lives, that one lives in me.

उदाराः सर्व एवैते ज्ञानी त्वात्मैव मे मतम्

āsthitaḥ — situated

All of them are worthy, but the one who knows is my very self, as I see it. Steady, that person has taken me as the highest goal.

सर्वद्वाराणि संयम्य मनो हृदि निरुध्य च

āsthitaḥ — situated (in)

Holding all the gates closed, the mind confined in the heart, the breath established in the head, settled in the practice of yoga,