yatra

यत्रोपरमते चित्तं निरुद्धं योगसेवया

yatra — when

Where the mind, restrained by the practice of yoga, comes to rest; where, seeing the self by the self, one is content in the self;

सुखमात्यन्तिकं यत्तद्बुद्धिग्राह्यमतीन्द्रियम्

yat — which

where one knows that limitless happiness, grasped by the understanding and beyond the senses; and standing there, does not stray from what is true —

यत्र काले त्वनावृत्तिमावृत्तिं चैव योगिनः

yatra — where

Now I will tell you the time at which those who practise depart and do not return, and the time at which they return.

सुखं त्विदानीं त्रिविधं श्रृणु मे भरतर्षभ

yatra — in which

Now hear from me of the three kinds of happiness, best of the Bharatas.

यत्र योगेश्वरः कृष्णो यत्र पार्थो धनुर्धरः

yatra — wherever

Wherever Krishna is, the master of yoga, and wherever Arjuna is, the archer — there, I am certain, are fortune, victory, prosperity and steadfastness.