The Yoga of Knowledge

Arjuna has heard conflicting teachings about duty—his intellect is 'śruti-vipratipannā' (confused by many heard teachings). Krishna reveals the marker of yoga: when your 'buddhi' becomes 'niścalā acalā' (unwavering, unmoving) 'samādhau' (in absorbed clarity), then you attain yoga. First you cross confusion's forest (2.52), then your clarity becomes steady. 'Samādhi' isn't mystical—it's when your mind stops scattering with every input and rests in integrated understanding.