Bhagavad Gita

तम विद्याददुःखसंयोगावियोगं योगासंज्ञितम  ।
स निश्चयेन  योक्तव्यो योगौSनिर्विण्णचेतसा ||

Chapter 6 Verse 23

Let this discrimination from union with pain be known by the name of yoga.This yoga should be practised with determination and with an undistracted mind.

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