Bhagavad Gita, Chapter 6, Verse 23

तं विद्याद् दुःखसंयोगवियोगं योगसंज्ञितम् । स निश्चयेन योक्तव्यो योगोऽनिर्विण्णचेतसा

taṃ vidyād duḥkhasaṃyogaviyogaṃ yogasaṃjñitam | sa niścayena yoktavyo yogo'nirviṇṇacetasā

Translation

This severance from union with pain, be it known, is called union (Yoga). That Yoga must be practised with determination and with undepressed heart.

— Alladi Mahadeva Sastri

Word meanings

tam

that

vidyāt

let (him) know

duḥkhasaṃyogaviyogam

with pains, with (from) conjunction, (the) disjunction

yogasaṃjñitam

yoga-named

niścayena

surely

yoktavyaḥ

should be practised

yogaḥ

yoga

anirviṇṇacetasā

not despondent, mind, whose, by him

Śaṅkarācārya's commentary

Severance from union with pain is called Yoga (which means union) by a sort of irony. Having thus concluded speaking of the effect of Yoga, the Lord again refers to the necessity of it, with a view to show that determination and non-depression (self-reliance) are necessary means to Yoga. That Yoga: the Yoga which can produce the results described above.