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6.23Krishna
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तं विद्याद्दुःखसंयोगवियोगं योगसंज्ञितम् ।स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा ॥

taṃ vidyād duḥkhasaṃyogaviyogaṃ yogasaṃjñitam |sa niścayena yoktavyo yogo 'nirviṇṇacetasā ||

तम् · tam
that
विद्यात् · vidyāt
should be known as
निश्चयेन · niścayena
with resolve
योक्तव्यः · yoktavyaḥ
should be practiced
अनिर्विण्णचेतसा · anirviṇṇacetasā
with undismayed mind

That disconnection from union with suffering should be known as yoga. That yoga should be practiced with resolve and an undismayed mind.

Original plain-language translation

Yoga is defined negatively as unyoking from pain's grip. The remedy is resolute, cheerful persistence rather than gloom. Despair is itself an obstacle the practice must refuse.

Reader's notes (original)