BG 6.23
तं विद्याद्दुःखसंयोगवियोगं योगसञ्ज्ञितम् ।
स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा ॥
स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा ॥
taṁ vidyād duḥkha-saṁyoga-viyogaṁ yoga-sañjñitam
sa niścayena yoktavyo yogo ’nirviṇṇa-cetasā
sa niścayena yoktavyo yogo ’nirviṇṇa-cetasā
Word-for-word meanings
tam — that state; viyogam — [which is the] absence; duḥkha-saṁyoga — [of] contact with pain; vidyāt — you should know; yoga-sañjñitam — by the name yoga; saḥ — that; yogaḥ — yoga; yoktavyaḥ — should be practiced; niścayena — with resolute determination; anirviṇṇa-cetasā — [and] with freedom from mental despondency.
Translation
This state, which is devoid of any contact with pain, you should know as yoga. This yoga should be practiced with resolute determination and free from mental despondency.