
Krishna describes the state of union (yoga). 'Yadā viniyataṁ cittam'—when the perfectly controlled (viniyatam) mind (cittam)—'ātmany evāvatiṣṭhate'—rests (avatiṣṭhate) in the Self (ātmani) alone (eva). This means: when your mind is completely disciplined, when it's perfectly controlled, it naturally rests in your true nature—the Self. It doesn't wander, it doesn't scatter—it settles in who you really are. 'Niḥspṛhaḥ sarva-kāmebhyaḥ'—free from longing (niḥspṛhaḥ) for all desires (sarva-kāmebhyaḥ). This means: not just some desires, but all desires—completely free, no longing, no craving. 'Yukta ity ucyate tadā'—then (tadā) one is said (ucyate) to be in union (yuktaḥ). This means: when your mind rests in the Self and you're free from all desires, you've achieved yoga—union with your true nature. This is the state of self-realization—mind established in Self, completely desireless, truly united.
How this ancient wisdom applies to your daily life

When your perfectly controlled mind rests in the Self alone, when you're free from longing for all desires, then you're in union—truly united with your true nature. This isn't about suppressing desires or pretending they don't exist—it's about your mind being so disciplined, so controlled, that it naturally rests in who you really are. It doesn't wander, it doesn't scatter, it doesn't chase desires—it settles in the Self. And when you're free from all desires, completely desireless, you're truly united. This is the state of self-realization—mind established in Self, completely desireless, truly at peace. Your mind is no longer scattered, no longer chasing—it's resting in who you are.

Does your mind rest in the Self, or does it wander and chase desires? Are you free from longing for all desires, or are you still attached to outcomes? When do you experience this state of union?