yatra–That (samādhi) within which; chittam–the mind; niruddham–disciplined; yoga-sevayā–by yoga practice; uparamate–is tranquil (relieved from mundane association); cha–and; yatra–within which; paśyan–having observed; ātmānam–the Supersoul, Paramātmā; ātmanā–by the pure self of the same nature as the Supersoul; tuṣyati–one is satisfied; ātmani eva–only in Him; (cha)–and; yatra–by which; ayam–this yogī; vetti tat–experiences that; ātyantikam–constant; sukham–bliss; ati-indriyam–transcendental to the senses; yat–which is; buddhi-grāhyam–known by spiritual enlightenment; cha–and; (yatra) sthitaḥ (san)–being situated within which; na eva chalati–one never deviates; tattvataḥ–from reality; (cha)–and; yam labdhvā–gaining which; na manyate–one does not consider; aparam lābham–any other attainment; adhikam–greater; tataḥ–than that; cha–and; yasmin sthitaḥ (san)–being situated within which; na vichālyate–one is not disturbed; guruṇā duḥkhena api–even by intense suffering; vidyāt–know; tam–that; duḥkha-saṁyoga-viyogam–state within which all association with unhappiness is severed; yoga-saṁjñitam–to be defined as yoga. yoktavyah–One should practise; saḥ yogaḥ–this yoga; niśchayena–with perseverance; anirviṇṇa-chetasā–and a heart that is never discouraged. [20–23]

20–23 The mind controlled by yoga practice is tranquil, pacified by detachment from mundane association. The yogī remains satisfied in the Lord alone, directly seeing the Supersoul through his purified consciousness. In his spiritual enlightenment, he tastes transcendental, eternal bliss. He never deviates from the reality. He considers that there is no greater gain in this world. He is undisturbed by even the worst suffering. Know that the attainment of such a state, in which all association with unhappiness is severed, is called yoga. Yoga must be practised with perseverance and a heart that is never discouraged.