Chapter VI Sloka 23

t< iv*adť ╩>os<yaegivyaeg< yaegs<i}tm!, 
s inÝyen yaeKtVyae yaegae=inivR{[cetsa.

taŇ vidyśd duÎkhasaŇyoga
viyogaŇ yogasa˝j˝itam |
sa ni■cayena yoktavyo 
yogo'nirvi§§acetasś ( 6|23)||

Let that be known by the name of Yoga: the severance from union with pain. This Yoga should be practised with determination and with an undespairing mind.

Commentary: In verses 20, 21 and 22 the Lord describes the benefits of Yoga, viz., perfect satisfaction by resting in the Self, infinite unending bliss, freedom from sorrow and pain, etc. He further adds that this Yoga should be practised with firm conviction and determination and without despair.

Krishna explains to Arjuna that Yoga is nothing but a 'renunciation of his contact with sorrows' and a direct entry into the halls of Bliss which is his own Real nature. The term 'Yoga' means contact. Today, with our imperfections, we have contact with only the world of finite objects through which we derive pleasure and pain. This life through the matter-instruments is the life of pain-yoga (duhkha sam-yoga). Detachment from this pain-Yoga is a process in which we disconnect (viyoga) ourselves from the fields of objects and their experiences.

Mind exists through its attachment; it can never exist without attaching itself to something. When it is detached thus from pain-yoga with the world of finite objects, it attaches itself to the Bliss which is the nature of the Real. Therefore, Krishna defines Yoga as duhkha-samyoga-viyogam - the renunciation of contact with sorrows, the severance of union with pain. To practise this with firm resolve and an undespairing heart is the secret of the highest success in the practice of meditation since Yoga (union) with the True is gained through successful viyoga from the false.