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6.36Krishna
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असंयतात्मना योगो दुष्प्राप इति मे मतिः ।वश्यात्मना तु यतता शक्योऽवाप्तुमुपायतः ॥

asaṃyatātmanā yogo duṣprāpa iti me matiḥ |vaśyātmanā tu yatatā śakyo 'vāptum upāyataḥ ||

दुष्प्रापः · duṣprāpaḥ
hard to attain
मतिः · matiḥ
conviction
यतता · yatatā
by the striving
शक्यः · śakyaḥ
possible
उपायतः · upāyataḥ
by right means

Yoga is hard to attain by the uncontrolled self — this is my conviction. But by the self-controlled and striving, it can be reached through right means.

Original plain-language translation

Possibility replaces impossibility when method joins effort. Self-control and striving are the paired qualifications. The wind can be sailed, if not seized.

Reader's notes (original)