BG 6.11-12
नात्युच्छ्रितं नातिनीचं चैलाजिनकुशोत्तरम् ॥
तत्रैकाग्रं मनः कृत्वा यतचित्तेन्द्रियक्रियः ।
उपविश्यासने युञ्ज्याद्योगमात्मविशुद्धये ॥
nāty-ucchritaṁ nāti-nīcaṁ cailājina-kuśottaram
tatraikāgraṁ manaḥ kṛtvā yata-cittendriya-kriyaḥ
upaviśyāsane yuñjyād yogam ātma-viśuddhaye
Word-for-word meanings
śucau deśe — in a clean and sanctified place; pratiṣṭhāpya — having established; ātmanaḥ — his own; sthiram — stable; āsanam — seat; na ati ucchritam — [which is] neither too high; na ati nīcam — nor too low; kuśa — [and which is made of] kuśa grass; uttaram — on top of which; caila-ajina — [there is] a soft cloth and a deerskin; upaviśya — while sitting; tatra āsane — on that seat; yata — having regulated; citta-indriya-kriyaḥ — the functions of the mind and senses; kṛtvā — by making; manaḥ — the mind; eka-agram — concentrated on one point; yuñjyāt — he should practice; yogam — yoga; viśuddhaye — for purification; ātma — [of] the heart.
Translation
In a clean and sanctified place, the yogī should establish his own stable seat, which is neither too high nor too low, and which is made of kuśa grass covered with a deerskin and a soft cloth. While sitting on that seat, having regulated his mental and sensual functions by concentrating his mind on one point, he should practice yoga to purify his heart.